mlsanityData to 14 Oct 2026

Person-MinkUNet: 3D Person Detection with LiDAR Point Cloud

arXiv 2107.06780 ↗First posted 3 Jul 2021cs.CV cs.ROcited by 3

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Abstract (arXiv)

In this preliminary work we attempt to apply submanifold sparse convolution to the task of 3D person detection. In particular, we present Person-MinkUNet, a single-stage 3D person detection network based on Minkowski Engine with U-Net architecture. The network achieves a 76.4% average precision (AP) on the JRDB 3D detection benchmark.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 15 of its 17 references that are in the map. First posted on arXiv 3 Jul 2021.

Builds on

15 of 17 references.

References · 15

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  4. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  5. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  6. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  7. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  8. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  9. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,208
  10. 2019KPConv: Flexible and Deformable Convolution for Point Cloudscited by 1,205
  11. 2020Center-based 3D Object Detection and Trackingcited by 1,144
  12. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 941
3 more
  1. 20173D Semantic Segmentation with Submanifold Sparse Convolutional Networkscited by 748
  2. 2020Searching Efficient 3D Architectures with Sparse Point-Voxel Convolutioncited by 423
  3. 2019JRDB: A Dataset and Benchmark of Egocentric Robot Visual Perception of Humans in Built Environmentscited by 12

Built on by

Cited by year (2026 to 14 Oct)

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

3 papers.

  1. 2022Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metricscited by 5
  2. 2025Technical Report for ICRA 2025 GOOSE 3D Semantic Segmentation Challenge: Adaptive Point Cloud Understanding for Heterogeneous Robotic Systemscited by 0
  3. 2026Beyond Leaderboard Scores: A Deployment-Focused Protocol for Interpretable Tracking Evaluation in Pedestrian-Centric Environmentscited by 0