mlsanityData to 7 Oct 2026

InfoFocus: 3D Object Detection for Autonomous Driving with Dynamic Information Modeling

arXiv 2007.08556 ↗First posted 16 Jul 2020cs.CVcited by 35

Not on the map. Why?

Abstract (arXiv)

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features extracted from equally divided sub-regions without considering that point cloud is generally non-uniformly distributed over the space. To address this issue, we propose a novel 3D object detection framework with dynamic information modeling. The proposed framework is designed in a coarse-to-fine manner. Coarse predictions are generated in the first stage via a voxel-based region proposal network. We introduce InfoFocus, which improves the coarse detections by adaptively refining features guided by the information of point cloud density. Experiments are conducted on the large-scale nuScenes 3D detection benchmark. Results show that our framework achieves the state-of-the-art performance with 31 FPS and improves our baseline significantly by 9.0% mAP on the nuScenes test set.

Key facts. Cited by 35 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Jul 2020.

Builds on

No reference list yet.

Built on by

Cited by year

Citing papers per year: 2021: 2; 2022: 10; 2023: 14; 2024: 6; 2025: 3.

35 papers.

Sort:

  1. 2023VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Trackingcited by 221
  2. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  3. 2021M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformerscited by 74
  4. 2022LargeKernel3D: Scaling up Kernels in 3D Sparse CNNscited by 71
  5. 2022CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Cloudscited by 58
  6. 2022Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graphcited by 42
  7. 2023GraphAlign: Enhancing Accurate Feature Alignment by Graph matching for Multi-Modal 3D Object Detectioncited by 34
  8. 2023MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusioncited by 29
  9. 2023Bi-LRFusion: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detectioncited by 28
  10. 2023Revisiting Domain-Adaptive 3D Object Detection by Reliable, Diverse and Class-balanced Pseudo-Labelingcited by 28
  11. 2023Exploring Active 3D Object Detection from a Generalization Perspectivecited by 26
  12. 2024Find n' Propagate: Open-Vocabulary 3D Object Detection in Urban Environmentscited by 21
23 more
  1. 20223D Object Detection with a Self-supervised Lidar Scene Flow Backbonecited by 19
  2. 2022Graph Neural Network and Spatiotemporal Transformer Attention for 3D Video Object Detection from Point Cloudscited by 17
  3. 2022DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radarscited by 16
  4. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  5. 2024VoxelNextFusion: A Simple, Unified and Effective Voxel Fusion Framework for Multi-Modal 3D Object Detectioncited by 14
  6. 2023FusionFormer: A Multi-sensory Fusion in Bird's-Eye-View and Temporal Consistent Transformer for 3D Object Detectioncited by 13
  7. 2022AGO-Net: Association-Guided 3D Point Cloud Object Detection Networkcited by 12
  8. 2023TransCAR: Transformer-based Camera-And-Radar Fusion for 3D Object Detectioncited by 11
  9. 2025SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weathercited by 10
  10. 2024SparseDet: A Simple and Effective Framework for Fully Sparse LiDAR-based 3D Object Detectioncited by 7
  11. 2022Rethinking Dimensionality Reduction in Grid-based 3D Object Detectioncited by 6
  12. 2024MOS: Model Synergy for Test-Time Adaptation on LiDAR-Based 3D Object Detectioncited by 6
  13. 2023DuEqNet: Dual-Equivariance Network in Outdoor 3D Object Detection for Autonomous Drivingcited by 3
  14. 2023HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filteringcited by 3
  15. 2021Range-Aware Attention Network for LiDAR-based 3D Object Detection with Auxiliary Point Density Level Estimationcited by 2
  16. 2023DynStatF: An Efficient Feature Fusion Strategy for LiDAR 3D Object Detectioncited by 2
  17. 2022Attention-based Proposals Refinement for 3D Object Detectioncited by 1
  18. 2023SUIT: Learning Significance-guided Information for 3D Temporal Detectioncited by 1
  19. 2024Leveraging Anchor-based LiDAR 3D Object Detection via Point Assisted Sample Selectioncited by 1
  20. 2024STONE: A Submodular Optimization Framework for Active 3D Object Detectioncited by 1
  21. 2023Open-CRB: Towards Open World Active Learning for 3D Object Detectioncited by 0
  22. 2025Collaborative Perceiver: Elevating Vision-based 3D Object Detection via Local Density-Aware Spatial Occupancycited by 0
  23. 2025Auto-Vocabulary 3D Object Detectioncited by 0