# Rethinking Voxelization and Classification for 3D Object Detection

arXiv: https://arxiv.org/abs/2301.04058 · HTML: https://mlsanity.com/paper/2301.04058/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 25 references that are in the map.
- First posted on arXiv 10 Jan 2023.

## Builds on (most cited first, 21 of 21)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Multi-view Convolutional Neural Networks for 3D Shape Recognition](https://mlsanity.com/paper/1505.00880/) (2015)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [OctNet: Learning Deep 3D Representations at High Resolutions](https://mlsanity.com/paper/1611.05009/) (2016)
- [PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds](https://mlsanity.com/paper/2103.14635/) (2021)
- [End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Clouds](https://mlsanity.com/paper/1910.06528/) (2019)
- [Focal Sparse Convolutional Networks for 3D Object Detection](https://mlsanity.com/paper/2204.12463/) (2022)
- [VoxGRAF: Fast 3D-Aware Image Synthesis with Sparse Voxel Grids](https://mlsanity.com/paper/2206.07695/) (2022)
- [Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Images](https://mlsanity.com/paper/1511.02300/) (2015)
- [Vehicle Detection from 3D Lidar Using Fully Convolutional Network](https://mlsanity.com/paper/1608.07916/) (2016)
- [CIA-SSD: Confident IoU-Aware Single-Stage Object Detector From Point Cloud](https://mlsanity.com/paper/2012.03015/) (2020)
- [Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks](https://mlsanity.com/paper/1609.06666/) (2016)
- [3D Fully Convolutional Network for Vehicle Detection in Point Cloud](https://mlsanity.com/paper/1611.08069/) (2016)
- [Multi-Evidence Filtering and Fusion for Multi-Label Classification, Object Detection and Semantic Segmentation Based on Weakly Supervised Learning](https://mlsanity.com/paper/1802.09129/) (2018)

## Built on by (most cited first, 3 of 3)

- [OFMPNet: Deep End-to-End Model for Occupancy and Flow Prediction in Urban Environment](https://mlsanity.com/paper/2404.02263/) (2024)
- [M3DMap: Object-aware Multimodal 3D Mapping for Dynamic Environments](https://mlsanity.com/paper/2508.17044/) (2025)
- [RCDINO: Enhancing Radar-Camera 3D Object Detection with DINOv2 Semantic Features](https://mlsanity.com/paper/2508.15353/) (2025)

## Abstract (arXiv)

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In this paper, we present a solution to improve network inference speed and precision at the same time by implementing a fast dynamic voxelizer that works on fast pillar-based models in the same way a voxelizer works on slow voxel-based models. In addition, we propose a lightweight detection sub-head model for classifying predicted objects and filter out false detected objects that significantly improves model precision in a negligible time and computing cost. The developed code is publicly available at: https://github.com/YoushaaMurhij/RVCDet.