mlsanityData to 7 Oct 2026

ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection

arXiv 2106.01178 ↗First posted 2 Jun 2021cs.CVcited by 157

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Abstract (arXiv)

In this paper, we introduce the task of multi-view RGB-based 3D object detection as an end-to-end optimization problem. To address this problem, we propose ImVoxelNet, a novel fully convolutional method of 3D object detection based on monocular or multi-view RGB images. The number of monocular images in each multi-view input can variate during training and inference; actually, this number might be unique for each multi-view input. ImVoxelNet successfully handles both indoor and outdoor scenes, which makes it general-purpose. Specifically, it achieves state-of-the-art results in car detection on KITTI (monocular) and nuScenes (multi-view) benchmarks among all methods that accept RGB images. Moreover, it surpasses existing RGB-based 3D object detection methods on the SUN RGB-D dataset. On ScanNet, ImVoxelNet sets a new benchmark for multi-view 3D object detection. The source code and the trained models are available at https://github.com/saic-vul/imvoxelnet.

Key facts. Cited by 157 papers in the map (data through 7 Oct 2026). Builds on 36 of its 49 references that are in the map. First posted on arXiv 2 Jun 2021.

Builds on

36 of 49 references.

References · 36

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  5. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  6. 2019MMDetection: Open MMLab Detection Toolbox and Benchmarkcited by 1,379
  7. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  8. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  9. 2019Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selectioncited by 539
  10. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  11. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
  12. 20183D-SIS: 3D Semantic Instance Segmentation of RGB-D Scanscited by 216
24 more
  1. 2020Atlas: End-to-End 3D Scene Reconstruction from Posed Imagescited by 206
  2. 2020SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimationcited by 202
  3. 2018Orthographic Feature Transform for Monocular 3D Object Detectioncited by 201
  4. 2020Total3DUnderstanding: Joint Layout, Object Pose and Mesh Reconstruction for Indoor Scenes from a Single Imagecited by 170
  5. 2019Learning Depth-Guided Convolutions for Monocular 3D Object Detectioncited by 169
  6. 2019Stereo R-CNN based 3D Object Detection for Autonomous Drivingcited by 163
  7. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 162
  8. 2020MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationshipscited by 153
  9. 2020RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Drivingcited by 150
  10. 2019Accurate Monocular Object Detection via Color-Embedded 3D Reconstruction for Autonomous Drivingcited by 137
  11. 2019IoU Loss for 2D/3D Object Detectioncited by 128
  12. 2020H3DNet: 3D Object Detection Using Hybrid Geometric Primitivescited by 123
  13. 2020ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votescited by 119
  14. 2019GS3D: An Efficient 3D Object Detection Framework for Autonomous Drivingcited by 106
  15. 2019Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstructioncited by 106
  16. 2017Deep MANTA: A Coarse-to-fine Many-Task Network for joint 2D and 3D vehicle analysis from monocular imagecited by 95
  17. 2018MonoGRNet: A Geometric Reasoning Network for Monocular 3D Object Localizationcited by 84
  18. 2019Multi-view PointNet for 3D Scene Understandingcited by 76
  19. 2018Holistic 3D Scene Parsing and Reconstruction from a Single RGB Imagecited by 69
  20. 2018Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimationcited by 51
  21. 2019VoteNet: A Deep Learning Label Fusion Method for Multi-Atlas Segmentationcited by 44
  22. 2019Triangulation Learning Network: from Monocular to Stereo 3D Object Detectioncited by 40
  23. 2019Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Losscited by 30
  24. 2019PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Pointscited by 16

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 32; 2023: 37; 2024: 38; 2025: 31; 2026: 17.

157 papers.

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  1. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  2. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  3. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  4. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  5. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  6. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 177
  7. 2022Panoptic Lifting for 3D Scene Understanding with Neural Fieldscited by 171
  8. 2022Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wildcited by 159
  9. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 155
  10. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  11. 2023EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AIcited by 146
  12. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
38 more
  1. 2022Vision-Centric BEV Perception: A Surveycited by 126
  2. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  3. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  4. 2023Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Drivingcited by 112
  5. 2023FB-BEV: BEV Representation from Forward-Backward View Transformationscited by 98
  6. 2021FCAF3D: Fully Convolutional Anchor-Free 3D Object Detectioncited by 97
  7. 2024SceneScript: Reconstructing Scenes With An Autoregressive Structured Language Modelcited by 95
  8. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  9. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  10. 2023PiMAE: Point Cloud and Image Interactive Masked Autoencoders for 3D Object Detectioncited by 53
  11. 2023NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detectioncited by 51
  12. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  13. 2022Bridging the View Disparity Between Radar and Camera Features for Multi-modal Fusion 3D Object Detectioncited by 46
  14. 2022NeRF-RPN: A general framework for object detection in NeRFscited by 46
  15. 2023Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baselinecited by 40
  16. 2022Faster VoxelPose: Real-time 3D Human Pose Estimation by Orthographic Projectioncited by 39
  17. 2024Cubify Anything: Scaling Indoor 3D Object Detectioncited by 39
  18. 2023Object as Query: Lifting any 2D Object Detector to 3D Detectioncited by 38
  19. 2023Pre-trained Trojan Attacks for Visual Recognitioncited by 38
  20. 2023Understanding the Robustness of 3D Object Detection with Bird's-Eye-View Representations in Autonomous Drivingcited by 37
  21. 2023GraphAlign: Enhancing Accurate Feature Alignment by Graph matching for Multi-Modal 3D Object Detectioncited by 34
  22. 2023MUVO: A Multimodal Generative World Model for Autonomous Driving with Geometric Representationscited by 33
  23. 2023TR3D: Towards Real-Time Indoor 3D Object Detectioncited by 32
  24. 2025Detect Anything 3D in the Wildcited by 32
  25. 2022Pseudo-Stereo for Monocular 3D Object Detection in Autonomous Drivingcited by 30
  26. 2022MV-FCOS3D++: Multi-View Camera-Only 4D Object Detection with Pretrained Monocular Backbonescited by 29
  27. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  28. 2022LET-3D-AP: Longitudinal Error Tolerant 3D Average Precision for Camera-Only 3D Detectioncited by 27
  29. 2023Uni3DETR: Unified 3D Detection Transformercited by 26
  30. 20233DiffTection: 3D Object Detection with Geometry-Aware Diffusion Featurescited by 26
  31. 2022EgoLoc: Revisiting 3D Object Localization from Egocentric Videos with Visual Queriescited by 25
  32. 2024EFM3D: A Benchmark for Measuring Progress Towards 3D Egocentric Foundation Modelscited by 25
  33. 2022Homography Loss for Monocular 3D Object Detectioncited by 24
  34. 2022Are We Ready for Vision-Centric Driving Streaming Perception? The ASAP Benchmarkcited by 24
  35. 2024Open Vocabulary Monocular 3D Object Detectioncited by 22
  36. 2025CamCtrl3D: Single-Image Scene Exploration with Precise 3D Camera Controlcited by 21
  37. 2023MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddingscited by 20
  38. 2024RoboFusion: Towards Robust Multi-Modal 3D Object Detection via SAMcited by 20

50 most cited of 157 All 157 (JSON)