# 3D Object Detection in LiDAR Point Clouds using Graph Neural Networks

arXiv: https://arxiv.org/abs/2301.12519 · HTML: https://mlsanity.com/paper/2301.12519/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 5 references that are in the map.
- First posted on arXiv 29 Jan 2023.

## Builds on (most cited first, 4 of 4)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)

## Built on by (most cited first, 1 of 1)

- [Simulation-Based Performance Evaluation of 3D Object Detection Methods with Deep Learning for a LiDAR Point Cloud Dataset in a SOTIF-related Use Case](https://mlsanity.com/paper/2503.03548/) (2025)

## Abstract (arXiv)

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in research and development with the LiDAR industry expected to reach 2.8 billion  by 2025. Although the LiDAR dataset is of rich density and high spatial resolution, it is challenging to process LiDAR data due to its inherent 3D geometry and massive volume. But such a high-resolution dataset possesses immense potential in many applications and has great potential in 3D object detection and recognition. In this research we propose Graph Neural Network (GNN) based framework to learn and identify the objects in the 3D LiDAR point clouds. GNNs are class of deep learning which learns the patterns and objects based on the principle of graph learning which have shown success in various 3D computer vision tasks.