mlsanityData to 7 Oct 2026

Stereo CenterNet based 3D Object Detection for Autonomous Driving

arXiv 2103.11071 ↗First posted 20 Mar 2021cs.CVcited by 10

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Abstract (arXiv)

Recently, three-dimensional (3D) detection based on stereo images has progressed remarkably; however, most advanced methods adopt anchor-based two-dimensional (2D) detection or depth estimation to address this problem. Nevertheless, high computational cost inhibits these methods from achieving real-time performance. In this study, we propose a 3D object detection method, Stereo CenterNet (SC), using geometric information in stereo imagery. SC predicts the four semantic key points of the 3D bounding box of the object in space and utilizes 2D left and right boxes, 3D dimension, orientation, and key points to restore the bounding box of the object in the 3D space. Subsequently, we adopt an improved photometric alignment module to further optimize the position of the 3D bounding box. Experiments conducted on the KITTI dataset indicate that the proposed SC exhibits the best speed-accuracy trade-off among advanced methods without using extra data.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 42 of its 57 references that are in the map. First posted on arXiv 20 Mar 2021.

Builds on

42 of 57 references.

References · 42

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30 more
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Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 3; 2023: 0; 2024: 3; 2025: 2; 2026: 1.

10 papers.

  1. 2024MonoCD: Monocular 3D Object Detection with Complementary Depthscited by 38
  2. 2024MonoDGP: Monocular 3D Object Detection with Decoupled-Query and Geometry-Error Priorscited by 21
  3. 2025Unleashing the Power of Chain-of-Prediction for Monocular 3D Object Detectioncited by 8
  4. 2021ESGN: Efficient Stereo Geometry Network for Fast 3D Object Detectioncited by 7
  5. 2022An Empirical Study of Pseudo-Labeling for Image-based 3D Object Detectioncited by 2
  6. 2025StereoDETR: Stereo-based Transformer for 3D Object Detectioncited by 2
  7. 2022Does depth estimation help object detection?cited by 1
  8. 2024Probabilistic Modeling of Disparity Uncertainty for Robust and Efficient Stereo Matchingcited by 1
  9. 2026DDStereo: Efficient Dual Decoder Transformers for Stereo 3D Road Anomaly Detectioncited by 1
  10. 2022Visualizing and Alleviating the Effect of Radial Distortion on Camera Calibration Using Principal Linescited by 0