# PV-RCNN: The Top-Performing LiDAR-only Solutions for 3D Detection / 3D Tracking / Domain Adaptation of Waymo Open Dataset Challenges

arXiv: https://arxiv.org/abs/2008.12599 · HTML: https://mlsanity.com/paper/2008.12599/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Aug 2020.

## Built on by (most cited first, 8 of 8)

- [RSN: Range Sparse Net for Efficient, Accurate LiDAR 3D Object Detection](https://mlsanity.com/paper/2106.13365/) (2021)
- [AFDetV2: Rethinking the Necessity of the Second Stage for Object Detection from Point Clouds](https://mlsanity.com/paper/2112.09205/) (2021)
- [MPPNet: Multi-Frame Feature Intertwining with Proxy Points for 3D Temporal Object Detection](https://mlsanity.com/paper/2205.05979/) (2022)
- [TrajectoryFormer: 3D Object Tracking Transformer with Predictive Trajectory Hypotheses](https://mlsanity.com/paper/2306.05888/) (2023)
- [Recent Advances in Embedding Methods for Multi-Object Tracking: A Survey](https://mlsanity.com/paper/2205.10766/) (2022)
- [LidarNAS: Unifying and Searching Neural Architectures for 3D Point Clouds](https://mlsanity.com/paper/2210.05018/) (2022)
- [Frame Fusion with Vehicle Motion Prediction for 3D Object Detection](https://mlsanity.com/paper/2306.10699/) (2023)
- [PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection](https://mlsanity.com/paper/2405.02811/) (2024)

## Abstract (arXiv)

In this technical report, we present the top-performing LiDAR-only solutions for 3D detection, 3D tracking and domain adaptation three tracks in Waymo Open Dataset Challenges 2020. Our solutions for the competition are built upon our recent proposed PV-RCNN 3D object detection framework. Several variants of our PV-RCNN are explored, including temporal information incorporation, dynamic voxelization, adaptive training sample selection, classification with RoI features, etc. A simple model ensemble strategy with non-maximum-suppression and box voting is adopted to generate the final results. By using only LiDAR point cloud data, our models finally achieve the 1st place among all LiDAR-only methods, and the 2nd place among all multi-modal methods, on the 3D Detection, 3D Tracking and Domain Adaptation three tracks of Waymo Open Dataset Challenges. Our solutions will be available at https://github.com/open-mmlab/OpenPCDet