mlsanityData to 7 Oct 2026

Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud

arXiv 2003.01251 ↗First posted 2 Mar 2020cs.CVcited by 335

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Abstract (arXiv)

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN, to predict the category and shape of the object that each vertex in the graph belongs to. In Point-GNN, we propose an auto-registration mechanism to reduce translation variance, and also design a box merging and scoring operation to combine detections from multiple vertices accurately. Our experiments on the KITTI benchmark show the proposed approach achieves leading accuracy using the point cloud alone and can even surpass fusion-based algorithms. Our results demonstrate the potential of using the graph neural network as a new approach for 3D object detection. The code is available https://github.com/WeijingShi/Point-GNN.

Key facts. Cited by 335 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 61; 2022: 83; 2023: 73; 2024: 54; 2025: 42; 2026: 22.

335 papers.

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  1. 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 442
  2. 2022Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Frameworkcited by 376
  3. 2021Voxel Transformer for 3D Object Detectioncited by 247
  4. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  5. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  6. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 144
  7. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  8. 2022Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Cloudscited by 131
  9. 2023Robo3D: Towards Robust and Reliable 3D Perception against Corruptionscited by 128
  10. 2021SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloudcited by 119
  11. 20213D Object Detection for Autonomous Driving: A Surveycited by 106
  12. 2021SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generationcited by 93
38 more
  1. 2021EagerMOT: 3D Multi-Object Tracking via Sensor Fusioncited by 83
  2. 2021MobileStereoNet: Towards Lightweight Deep Networks for Stereo Matchingcited by 82
  3. 2021Free-form Description Guided 3D Visual Graph Network for Object Grounding in Point Cloudcited by 81
  4. 2023CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perceptioncited by 81
  5. 2023LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusioncited by 80
  6. 2021Pyramid R-CNN: Towards Better Performance and Adaptability for 3D Object Detectioncited by 79
  7. 2021AutoGCL: Automated Graph Contrastive Learning via Learnable View Generatorscited by 73
  8. 2022Point Density-Aware Voxels for LiDAR 3D Object Detectioncited by 70
  9. 2022Molecular Geometry Pretraining with SE(3)-Invariant Denoising Distance Matchingcited by 67
  10. 2024Point Cloud Mamba: Point Cloud Learning via State Space Modelcited by 66
  11. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  12. 2022Motion Inspired Unsupervised Perception and Prediction in Autonomous Drivingcited by 59
  13. 2021Behind the Curtain: Learning Occluded Shapes for 3D Object Detectioncited by 58
  14. 2022GD-MAE: Generative Decoder for MAE Pre-training on LiDAR Point Cloudscited by 57
  15. 2024IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detectioncited by 57
  16. 2022A Survey on Graph Neural Networks and Graph Transformers in Computer Vision: A Task-Oriented Perspectivecited by 56
  17. 2022Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learningcited by 54
  18. 2022Transformation-Equivariant 3D Object Detection for Autonomous Drivingcited by 52
  19. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  20. 2021EPNet++: Cascade Bi-directional Fusion for Multi-Modal 3D Object Detectioncited by 49
  21. 2021VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusioncited by 48
  22. 2021Exploiting Edge-Oriented Reasoning for 3D Point-based Scene Graph Analysiscited by 47
  23. 2022Semi-supervised 3D Object Detection with Proficient Teacherscited by 45
  24. 2024RangeLDM: Fast Realistic LiDAR Point Cloud Generationcited by 45
  25. 2022Revisiting Graph Contrastive Learning from the Perspective of Graph Spectrumcited by 43
  26. 2021Auto4D: Learning to Label 4D Objects from Sequential Point Cloudscited by 42
  27. 2022Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graphcited by 42
  28. 2021M3DSSD: Monocular 3D Single Stage Object Detectorcited by 39
  29. 2024Benchmarking and Improving Bird's Eye View Perception Robustness in Autonomous Drivingcited by 39
  30. 2023Unsupervised 3D Perception with 2D Vision-Language Distillation for Autonomous Drivingcited by 37
  31. 2023Learning Occupancy for Monocular 3D Object Detectioncited by 35
  32. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  33. 2022Improved Orientation Estimation and Detection with Hybrid Object Detection Networks for Automotive Radarcited by 33
  34. 2022CAT-Det: Contrastively Augmented Transformer for Multi-modal 3D Object Detectioncited by 32
  35. 2023OcTr: Octree-based Transformer for 3D Object Detectioncited by 32
  36. 2022Thermodynamics-informed graph neural networkscited by 31
  37. 2023DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Cloudscited by 31
  38. 2021Lidar Point Cloud Guided Monocular 3D Object Detectioncited by 29

50 most cited of 335 All 335 (JSON)