mlsanityData to 14 Oct 2026

Anchor-free 3D Single Stage Detector with Mask-Guided Attention for Point Cloud

arXiv 2108.03634 ↗First posted 8 Aug 2021cs.CVcited by 13

Not on the map. Why?

Abstract (arXiv)

Most of the existing single-stage and two-stage 3D object detectors are anchor-based methods, while the efficient but challenging anchor-free single-stage 3D object detection is not well investigated. Recent studies on 2D object detection show that the anchor-free methods also are of great potential. However, the unordered and sparse properties of point clouds prevent us from directly leveraging the advanced 2D methods on 3D point clouds. We overcome this by converting the voxel-based sparse 3D feature volumes into the sparse 2D feature maps. We propose an attentive module to fit the sparse feature maps to dense mostly on the object regions through the deformable convolution tower and the supervised mask-guided attention. By directly regressing the 3D bounding box from the enhanced and dense feature maps, we construct a novel single-stage 3D detector for point clouds in an anchor-free manner. We propose an IoU-based detection confidence re-calibration scheme to improve the correlation between the detection confidence score and the accuracy of the bounding box regression. Our code is publicly available at urlhttps://github.com/jialeli1/MGAF-3DSSD.

Key facts. Cited by 13 papers in the map (data through 14 Oct 2026). Builds on 54 of its 71 references that are in the map. First posted on arXiv 8 Aug 2021.

Builds on

54 of 71 references.

References · 54

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  3. 2017Mask R-CNNcited by 7,277
  4. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  5. 2016Feature Pyramid Networks for Object Detectioncited by 5,036
  6. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,852
  7. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  8. 2015SSD: Single Shot MultiBox Detectorcited by 3,130
  9. 2019A Comprehensive Survey on Graph Neural Networkscited by 2,919
  10. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  11. 2017Decoupled Weight Decay Regularizationcited by 1,831
  12. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
38 more
  1. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,577
  2. 2017Deformable Convolutional Networkscited by 1,488
  3. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  4. 2017Cascade R-CNN: Delving into High Quality Object Detectioncited by 1,276
  5. 2019Objects as Pointscited by 1,175
  6. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 941
  7. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 891
  8. 2018CornerNet: Detecting Objects as Paired Keypointscited by 763
  9. 2017Focal Loss for Dense Object Detectioncited by 752
  10. 20173D Semantic Segmentation with Submanifold Sparse Convolutional Networkscited by 748
  11. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 724
  12. 2018Deformable ConvNets v2: More Deformable, Better Resultscited by 670
  13. 2019CenterNet: Keypoint Triplets for Object Detectioncited by 654
  14. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  15. 2019Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selectioncited by 540
  16. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  17. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  18. 2020Generalized Focal Loss: Learning Qualified and Distributed Bounding Boxes for Dense Object Detectioncited by 409
  19. 2019From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Networkcited by 368
  20. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  21. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 326
  22. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  23. 2019RepPoints: Point Set Representation for Object Detectioncited by 264
  24. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
  25. 2017Super-Convergence: Very Fast Training of Neural Networks Using Large Learning Ratescited by 199
  26. 2018Acquisition of Localization Confidence for Accurate Object Detectioncited by 176
  27. 2019End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Cloudscited by 171
  28. 2019Bottom-up Object Detection by Grouping Extreme and Center Pointscited by 156
  29. 2020CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detectioncited by 147
  30. 2020Pillar-based Object Detection for Autonomous Drivingcited by 137
  31. 2019Fast Point R-CNNcited by 119
  32. 2019TANet: Robust 3D Object Detection from Point Clouds with Triple Attentioncited by 108
  33. 2019Object as Hotspots: An Anchor-Free 3D Object Detection Approach via Firing of Hotspotscited by 84
  34. 2020HVNet: Hybrid Voxel Network for LiDAR Based 3D Object Detectioncited by 82
  35. 2015Sparse 3D convolutional neural networkscited by 72
  36. 2019PI-RCNN: An Efficient Multi-sensor 3D Object Detector with Point-based Attentive Cont-conv Fusion Modulecited by 56
  37. 2020Weakly Supervised 3D Object Detection from Point Cloudscited by 41
  38. 2021M3DSSD: Monocular 3D Single Stage Object Detectorcited by 39

50 most cited of 54 All 54 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 3; 2022: 7; 2023: 1; 2024: 1; 2025: 0; 2026: 1.

13 papers.

Sort:

By area:

  1. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  2. 2021EPNet++: Cascade Bi-directional Fusion for Multi-Modal 3D Object Detectioncited by 49
  3. 2022Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detectioncited by 48
  4. 2022Paint and Distill: Boosting 3D Object Detection with Semantic Passing Networkcited by 7
  5. 2022CG-SSD: Corner Guided Single Stage 3D Object Detection from LiDAR Point Cloudcited by 5
  6. 2021Accurate and Real-time 3D Pedestrian Detection Using an Efficient Attentive Pillar Networkcited by 4
  7. 2022Cost-Aware Evaluation and Model Scaling for LiDAR-Based 3D Object Detectioncited by 3
  8. 2023MaskBEV: Joint Object Detection and Footprint Completion for Bird's-eye View 3D Point Cloudscited by 2
  9. 2022SEFormer: Structure Embedding Transformer for 3D Object Detectioncited by 1
  10. 2021Structure Information is the Key: Self-Attention RoI Feature Extractor in 3D Object Detectioncited by 0
  11. 2022ImLiDAR: Cross-Sensor Dynamic Message Propagation Network for 3D Object Detectioncited by 0
  12. 2024Multi-scale Feature Fusion with Point Pyramid for 3D Object Detectioncited by 0
1 more
  1. 2026TADP: Task-Aware Deformable Prediction for Single-Stage 3D Object Detectioncited by 0