mlsanityData to 14 Oct 2026

Objects as Points

arXiv 1904.07850 ↗First posted 16 Apr 2019cs.CVcited by 1,175

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Cited by 21 in Knowledge distillation, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Detection identifies objects as axis-aligned boxes in an image. Most successful object detectors enumerate a nearly exhaustive list of potential object locations and classify each. This is wasteful, inefficient, and requires additional post-processing. In this paper, we take a different approach. We model an object as a single point --- the center point of its bounding box. Our detector uses keypoint estimation to find center points and regresses to all other object properties, such as size, 3D location, orientation, and even pose. Our center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and more accurate than corresponding bounding box based detectors. CenterNet achieves the best speed-accuracy trade-off on the MS COCO dataset, with 28.1% AP at 142 FPS, 37.4% AP at 52 FPS, and 45.1% AP with multi-scale testing at 1.4 FPS. We use the same approach to estimate 3D bounding box in the KITTI benchmark and human pose on the COCO keypoint dataset. Our method performs competitively with sophisticated multi-stage methods and runs in real-time.

Key facts. Cited by 1,175 papers in the map (data through 14 Oct 2026). First posted on arXiv 16 Apr 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 281; 2022: 309; 2023: 252; 2024: 164; 2025: 100; 2026: 69.

1,175 papers.

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  1. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  2. 2021Vision Transformers for Dense Predictioncited by 1,803
  3. 2021Ego4D: Around the World in 3,000 Hours of Egocentric Videocited by 1,556
  4. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  5. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,071
  6. 2022YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectorscited by 982
  7. 2023A Comprehensive Survey of Continual Learning: Theory, Method and Applicationcited by 872
  8. 2021ByteTrack: Multi-Object Tracking by Associating Every Detection Boxcited by 823
  9. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 713
  10. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  11. 2022DAB-DETR: Dynamic Anchor Boxes are Better Queries for DETRcited by 573
  12. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
38 more
  1. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  2. 2021MViTv2: Improved Multiscale Vision Transformers for Classification and Detectioncited by 519
  3. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 485
  4. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 466
  5. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 447
  6. 2021Conditional DETR for Fast Training Convergencecited by 424
  7. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 381
  8. 2022Kubric: A scalable dataset generatorcited by 381
  9. 2022DiffusionDet: Diffusion Model for Object Detectioncited by 354
  10. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  11. 2021Pix2seq: A Language Modeling Framework for Object Detectioncited by 349
  12. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 346
  13. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 341
  14. 2022Joint Feature Learning and Relation Modeling for Tracking: A One-Stream Frameworkcited by 330
  15. 2022YOLOv6: A Single-Stage Object Detection Framework for Industrial Applicationscited by 275
  16. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  17. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  18. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 249
  19. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  20. 2021Oriented R-CNN for Object Detectioncited by 231
  21. 2021TOOD: Task-aligned One-stage Object Detectioncited by 218
  22. 2021DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motioncited by 217
  23. 2022StrongSORT: Make DeepSORT Great Againcited by 213
  24. 2022Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformercited by 212
  25. 2023Class-Incremental Learning: A Surveycited by 209
  26. 2021ReDet: A Rotation-equivariant Detector for Aerial Object Detectioncited by 203
  27. 2022AlphaPose: Whole-Body Regional Multi-Person Pose Estimation and Tracking in Real-Timecited by 200
  28. 2022RTMDet: An Empirical Study of Designing Real-Time Object Detectorscited by 195
  29. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  30. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 191
  31. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  32. 2021Objects are Different: Flexible Monocular 3D Object Detectioncited by 185
  33. 2021OTA: Optimal Transport Assignment for Object Detectioncited by 178
  34. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 178
  35. 2021You Only Look at One Sequence: Rethinking Transformer in Vision through Object Detectioncited by 170
  36. 2021Multimodal Virtual Point 3D Detectioncited by 166
  37. 2022Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wildcited by 160
  38. 2021Instances as Queriescited by 158

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