mlsanityData to 7 Oct 2026

Object as Query: Lifting any 2D Object Detector to 3D Detection

arXiv 2301.02364 ↗First posted 6 Jan 2023cs.CVcited by 38

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Abstract (arXiv)

3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object queries distributed in 3D space to localize objects. In this paper, we design Multi-View 2D Objects guided 3D Object Detector (MV2D), which can lift any 2D object detector to multi-view 3D object detection. Since 2D detections can provide valuable priors for object existence, MV2D exploits 2D detectors to generate object queries conditioned on the rich image semantics. These dynamically generated queries help MV2D to recall objects in the field of view and show a strong capability of localizing 3D objects. For the generated queries, we design a sparse cross attention module to force them to focus on the features of specific objects, which suppresses interference from noises. The evaluation results on the nuScenes dataset demonstrate the dynamic object queries and sparse feature aggregation can promote 3D detection capability. MV2D also exhibits a state-of-the-art performance among existing methods. We hope MV2D can serve as a new baseline for future research. Code is available at urlhttps://github.com/tusen-ai/MV2D.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). Builds on 44 of its 49 references that are in the map. First posted on arXiv 6 Jan 2023.

Builds on

44 of 49 references.

References · 44

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
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  8. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,829
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32 more
  1. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  2. 2017Deformable Convolutional Networkscited by 1,481
  3. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  4. 2019Objects as Pointscited by 1,172
  5. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,064
  6. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  7. 2017Focal Loss for Dense Object Detectioncited by 749
  8. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  9. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  10. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  11. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  12. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  13. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  14. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  15. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 340
  16. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  17. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  18. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
  19. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  20. 2019Disentangling Monocular 3D Object Detectioncited by 215
  21. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  22. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 190
  23. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  24. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  25. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 155
  26. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  27. 2021Efficient DETR: Improving End-to-End Object Detector with Dense Priorcited by 128
  28. 2020GridMask Data Augmentationcited by 123
  29. 2019Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstructioncited by 106
  30. 2022Fully Sparse 3D Object Detectioncited by 84
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  32. 2022Polar Parametrization for Vision-based Surround-View 3D Detectioncited by 53

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 17; 2025: 10; 2026: 6.

38 papers.

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  1. 2023Sparse4D v3: Advancing End-to-End 3D Detection and Trackingcited by 69
  2. 2024Ray Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detectioncited by 36
  3. 2023Fully Sparse Fusion for 3D Object Detectioncited by 29
  4. 2024MV2DFusion: Leveraging Modality-Specific Object Semantics for Multi-Modal 3D Detectioncited by 23
  5. 2024RaCFormer: Towards High-Quality 3D Object Detection via Query-based Radar-Camera Fusioncited by 19
  6. 2024DualAD: Disentangling the Dynamic and Static World for End-to-End Drivingcited by 17
  7. 2024SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objectscited by 12
  8. 2024Eliminating Cross-modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detectioncited by 10
  9. 2023Towards Generalizable Multi-Camera 3D Object Detection via Perspective Debiasingcited by 9
  10. 2024RayFormer: Improving Query-Based Multi-Camera 3D Object Detection via Ray-Centric Strategiescited by 9
  11. 2024SparseFusion: Efficient Sparse Multi-Modal Fusion Framework for Long-Range 3D Perceptioncited by 8
  12. 2023OA-DET3D: Embedding Object Awareness as a General Plug-in for Multi-Camera 3D Object Detectioncited by 7
26 more
  1. 2025RoPETR: Improving Temporal Camera-Only 3D Detection by Integrating Enhanced Rotary Position Embeddingcited by 7
  2. 2024Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Elicitingcited by 6
  3. 2023QE-BEV: Query Evolution for Bird's Eye View Object Detection in Varied Contextscited by 5
  4. 2024PoIFusion: Multi-Modal 3D Object Detection via Fusion at Points of Interestcited by 4
  5. 2024Roadside Monocular 3D Detection Prompted by 2D Detectioncited by 2
  6. 2024DuoSpaceNet: Leveraging Both Bird's-Eye-View and Perspective View Representations for 3D Object Detectioncited by 2
  7. 2024Cyclic Refiner: Object-Aware Temporal Representation Learning for Multi-View 3D Detection and Trackingcited by 2
  8. 2024Reflective Teacher: Semi-Supervised Multimodal 3D Object Detection in Bird's-Eye-View via Uncertainty Measurecited by 2
  9. 2025FQ-PETR: Fully Quantized Position Embedding Transformation for Multi-View 3D Object Detectioncited by 2
  10. 2025Accelerate 3D Object Detection Models via Zero-Shot Attention Key Pruningcited by 2
  11. 2026Geometry-Grounded Unified 3D Perception for Autonomous Drivingcited by 2
  12. 2024MonoDETRNext: Next-Generation Accurate and Efficient Monocular 3D Object Detectorcited by 1
  13. 2024MDHA: Multi-Scale Deformable Transformer with Hybrid Anchors for Multi-View 3D Object Detectioncited by 1
  14. 2025Shaken, Not Stirred: A Novel Dataset for Visual Understanding of Glasses in Human-Robot Bartending Taskscited by 1
  15. 2024Test-time Correction: An Online 3D Detection System via Visual Promptingcited by 0
  16. 2025Refine-and-Contrast: Adaptive Instance-Aware BEV Representations for Multi-UAV Collaborative Object Detectioncited by 0
  17. 2025DQ3D: Depth-guided Query for Transformer-Based 3D Object Detection in Traffic Scenarioscited by 0
  18. 2025FQ-PETR: Fully Quantized Position Embedding Transformation for Multi-View 3D Object Detectioncited by 0
  19. 2025StereoMV2D: A Sparse Temporal Stereo-Enhanced Framework for Robust Multi-View 3D Object Detectioncited by 0
  20. 2025ALIGN: Advanced Query Initialization with LiDAR-Image Guidance for Occlusion-Robust 3D Object Detectioncited by 0
  21. 2025SCAFusion: A Multimodal 3D Detection Framework for Small Object Detection in Lunar Surface Explorationcited by 0
  22. 2026CAM3DNet: Comprehensively mining the multi-scale features for 3D Object Detection with Multi-View Camerascited by 0
  23. 2026Generative Lane Topology Reasoning via Autoregressive Model with Geometry Priorcited by 0
  24. 2026PixelPilot: Scalable Vision-Language-Action Models for End-to-End Autonomous Drivingcited by 0
  25. 2026YOLO-PVC: 2D-to-3D Consolidation of Slice-wise Detections for Volumetric Liver Tumor Localization in MRIcited by 0
  26. 2026PQR3D: Progressive Query Refinement over Reference-Conditioned Temporal Windows for Multi-View 3D Object Detectioncited by 0