mlsanityData to 7 Oct 2026

3DSSD: Point-based 3D Single Stage Object Detector

arXiv 2002.10187 ↗First posted 24 Feb 2020cs.CVcited by 440

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Abstract (arXiv)

Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object detector, named 3DSSD, achieving a good balance between accuracy and efficiency. In this paradigm, all upsampling layers and refinement stage, which are indispensable in all existing point-based methods, are abandoned to reduce the large computation cost. We novelly propose a fusion sampling strategy in downsampling process to make detection on less representative points feasible. A delicate box prediction network including a candidate generation layer, an anchor-free regression head with a 3D center-ness assignment strategy is designed to meet with our demand of accuracy and speed. Our paradigm is an elegant single stage anchor-free framework, showing great superiority to other existing methods. We evaluate 3DSSD on widely used KITTI dataset and more challenging nuScenes dataset. Our method outperforms all state-of-the-art voxel-based single stage methods by a large margin, and has comparable performance to two stage point-based methods as well, with inference speed more than 25 FPS, 2x faster than former state-of-the-art point-based methods.

Key facts. Cited by 440 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Feb 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 76; 2022: 111; 2023: 112; 2024: 76; 2025: 52; 2026: 13.

440 papers.

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  1. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  2. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  3. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 477
  4. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 464
  5. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 334
  6. 2021An End-to-End Transformer Model for 3D Object Detectioncited by 329
  7. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  8. 2021Voxel Transformer for 3D Object Detectioncited by 247
  9. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  10. 2023VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Trackingcited by 221
  11. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  12. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 186
38 more
  1. 2021Multimodal Virtual Point 3D Detectioncited by 166
  2. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 144
  3. 2022Focal Sparse Convolutional Networks for 3D Object Detectioncited by 142
  4. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  5. 2022Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Cloudscited by 131
  6. 2023Robo3D: Towards Robust and Reliable 3D Perception against Corruptionscited by 128
  7. 2023Spherical Transformer for LiDAR-based 3D Recognitioncited by 124
  8. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  9. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  10. 2021SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloudcited by 119
  11. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  12. 2023Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Drivingcited by 112
  13. 2021Improving 3D Object Detection with Channel-wise Transformercited by 108
  14. 20213D Object Detection for Autonomous Driving: A Surveycited by 106
  15. 2022Voxel Set Transformer: A Set-to-Set Approach to 3D Object Detection from Point Cloudscited by 102
  16. 2022PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detectioncited by 99
  17. 2023Visual Point Cloud Forecasting enables Scalable Autonomous Drivingcited by 97
  18. 2021SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generationcited by 93
  19. 2021FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detectioncited by 92
  20. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 90
  21. 2021AFDetV2: Rethinking the Necessity of the Second Stage for Object Detection from Point Cloudscited by 88
  22. 2022Fully Sparse 3D Object Detectioncited by 84
  23. 2023Virtual Sparse Convolution for Multimodal 3D Object Detectioncited by 81
  24. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  25. 2021Pyramid R-CNN: Towards Better Performance and Adaptability for 3D Object Detectioncited by 79
  26. 2021M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformerscited by 74
  27. 2023UniTR: A Unified and Efficient Multi-Modal Transformer for Bird's-Eye-View Representationcited by 74
  28. 20213D-MAN: 3D Multi-frame Attention Network for Object Detectioncited by 73
  29. 2023FlatFormer: Flattened Window Attention for Efficient Point Cloud Transformercited by 72
  30. 2022LargeKernel3D: Scaling up Kernels in 3D Sparse CNNscited by 71
  31. 2022Point Density-Aware Voxels for LiDAR 3D Object Detectioncited by 70
  32. 2021Monocular 3D Object Detection: An Extrinsic Parameter Free Approachcited by 69
  33. 2021LIGA-Stereo: Learning LiDAR Geometry Aware Representations for Stereo-based 3D Detectorcited by 69
  34. 2023Cross Modal Transformer: Towards Fast and Robust 3D Object Detectioncited by 68
  35. 2021Back-tracing Representative Points for Voting-based 3D Object Detection in Point Cloudscited by 67
  36. 2022CRAFT: Camera-Radar 3D Object Detection with Spatio-Contextual Fusion Transformercited by 66
  37. 2024Voxel Mamba: Group-Free State Space Models for Point Cloud based 3D Object Detectioncited by 66
  38. 2021PTTR: Relational 3D Point Cloud Object Tracking with Transformercited by 65

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