# 3D Point Cloud Processing and Learning for Autonomous Driving

arXiv: https://arxiv.org/abs/2003.00601 · HTML: https://mlsanity.com/paper/2003.00601/

## Key facts

- Cited by 68 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2020.

## Built on by (most cited first, 30 of 68)

- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [Point-Bind & Point-LLM: Aligning Point Cloud with Multi-modality for 3D Understanding, Generation, and Instruction Following](https://mlsanity.com/paper/2309.00615/) (2023)
- [Leapfrog Diffusion Model for Stochastic Trajectory Prediction](https://mlsanity.com/paper/2303.10895/) (2023)
- [Robust Collaborative 3D Object Detection in Presence of Pose Errors](https://mlsanity.com/paper/2211.07214/) (2022)
- [Latency-Aware Collaborative Perception](https://mlsanity.com/paper/2207.08560/) (2022)
- [Collaboration Helps Camera Overtake LiDAR in 3D Detection](https://mlsanity.com/paper/2303.13560/) (2023)
- [Revisiting Adversarial Robustness Distillation: Robust Soft Labels Make Student Better](https://mlsanity.com/paper/2108.07969/) (2021)
- [Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys](https://mlsanity.com/paper/2303.17220/) (2023)
- [Communication-Efficient Collaborative Perception via Information Filling with Codebook](https://mlsanity.com/paper/2405.04966/) (2024)
- [Asynchrony-Robust Collaborative Perception via Bird's Eye View Flow](https://mlsanity.com/paper/2309.16940/) (2023)
- [Graph Filters for Signal Processing and Machine Learning on Graphs](https://mlsanity.com/paper/2211.08854/) (2022)
- [TBP-Former: Learning Temporal Bird's-Eye-View Pyramid for Joint Perception and Prediction in Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2303.09998/) (2023)
- [Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Driving](https://mlsanity.com/paper/2304.11821/) (2023)
- [RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systems](https://mlsanity.com/paper/2211.06108/) (2022)
- [Point-TTA: Test-Time Adaptation for Point Cloud Registration Using Multitask Meta-Auxiliary Learning](https://mlsanity.com/paper/2308.16481/) (2023)
- [Deep Instance Segmentation with Automotive Radar Detection Points](https://mlsanity.com/paper/2110.01775/) (2021)
- [Auxiliary Tasks Benefit 3D Skeleton-based Human Motion Prediction](https://mlsanity.com/paper/2308.08942/) (2023)
- [PointNCBW: Towards Dataset Ownership Verification for Point Clouds via Negative Clean-label Backdoor Watermark](https://mlsanity.com/paper/2408.05500/) (2024)
- [GRASP-Net: Geometric Residual Analysis and Synthesis for Point Cloud Compression](https://mlsanity.com/paper/2209.04401/) (2022)
- [Robustness Certification for Point Cloud Models](https://mlsanity.com/paper/2103.16652/) (2021)
- [2D-3D Interlaced Transformer for Point Cloud Segmentation with Scene-Level Supervision](https://mlsanity.com/paper/2310.12817/) (2023)
- [RoCo:Robust Collaborative Perception By Iterative Object Matching and Pose Adjustment](https://mlsanity.com/paper/2408.00257/) (2024)
- [CloudFixer: Test-Time Adaptation for 3D Point Clouds via Diffusion-Guided Geometric Transformation](https://mlsanity.com/paper/2407.16193/) (2024)
- [Detecting Backdoor Attacks Against Point Cloud Classifiers](https://mlsanity.com/paper/2110.10354/) (2021)
- [TPC: Transformation-Specific Smoothing for Point Cloud Models](https://mlsanity.com/paper/2201.12733/) (2022)
- [Test-Time Adaptation for Point Cloud Upsampling Using Meta-Learning](https://mlsanity.com/paper/2308.16484/) (2023)
- [Pragmatic Communication in Multi-Agent Collaborative Perception](https://mlsanity.com/paper/2401.12694/) (2024)
- [Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planning](https://mlsanity.com/paper/2306.01980/) (2023)
- [Spatio-Temporal Branching for Motion Prediction using Motion Increments](https://mlsanity.com/paper/2308.01097/) (2023)

## Abstract (arXiv)

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the external surfaces of objects and scenes. The tools for 3D point cloud processing and learning are critical to the map creation, localization, and perception modules in an autonomous vehicle. While much attention has been paid to data collected from cameras, such as images and videos, an increasing number of researchers have recognized the importance and significance of LiDAR in autonomous driving and have proposed processing and learning algorithms to exploit 3D point clouds. We review the recent progress in this research area and summarize what has been tried and what is needed for practical and safe autonomous vehicles. We also offer perspectives on open issues that are needed to be solved in the future.