# WildRefer: 3D Object Localization in Large-scale Dynamic Scenes with Multi-modal Visual Data and Natural Language

arXiv: https://arxiv.org/abs/2304.05645 · HTML: https://mlsanity.com/paper/2304.05645/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 51 of its 61 references that are in the map.
- First posted on arXiv 12 Apr 2023.

## Builds on (most cited first, 30 of 51)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [fairseq: A Fast, Extensible Toolkit for Sequence Modeling](https://mlsanity.com/paper/1904.01038/) (2019)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [VL-BERT: Pre-training of Generic Visual-Linguistic Representations](https://mlsanity.com/paper/1908.08530/) (2019)
- [Generation and Comprehension of Unambiguous Object Descriptions](https://mlsanity.com/paper/1511.02283/) (2015)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers](https://mlsanity.com/paper/2203.11496/) (2022)
- [ScanRefer: 3D Object Localization in RGB-D Scans using Natural Language](https://mlsanity.com/paper/1912.08830/) (2019)
- [PointPainting: Sequential Fusion for 3D Object Detection](https://mlsanity.com/paper/1911.10150/) (2019)
- [MAttNet: Modular Attention Network for Referring Expression Comprehension](https://mlsanity.com/paper/1801.08186/) (2018)
- [Unifying Vision-and-Language Tasks via Text Generation](https://mlsanity.com/paper/2102.02779/) (2021)
- [BEVFusion: A Simple and Robust LiDAR-Camera Fusion Framework](https://mlsanity.com/paper/2205.13790/) (2022)
- [TransVG: End-to-End Visual Grounding with Transformers](https://mlsanity.com/paper/2104.08541/) (2021)
- [Modeling Context Between Objects for Referring Expression Understanding](https://mlsanity.com/paper/1608.00525/) (2016)
- [DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detection](https://mlsanity.com/paper/2203.08195/) (2022)
- [A Fast and Accurate One-Stage Approach to Visual Grounding](https://mlsanity.com/paper/1908.06354/) (2019)
- [FUTR3D: A Unified Sensor Fusion Framework for 3D Detection](https://mlsanity.com/paper/2203.10642/) (2022)
- [MVX-Net: Multimodal VoxelNet for 3D Object Detection](https://mlsanity.com/paper/1904.01649/) (2019)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [InstanceRefer: Cooperative Holistic Understanding for Visual Grounding on Point Clouds through Instance Multi-level Contextual Referring](https://mlsanity.com/paper/2103.01128/) (2021)
- [Multi-View Transformer for 3D Visual Grounding](https://mlsanity.com/paper/2204.02174/) (2022)
- [SeqTR: A Simple yet Universal Network for Visual Grounding](https://mlsanity.com/paper/2203.16265/) (2022)
- [Improving One-stage Visual Grounding by Recursive Sub-query Construction](https://mlsanity.com/paper/2008.01059/) (2020)

## Built on by (most cited first, 8 of 8)

- [A Survey on Text-guided 3D Visual Grounding: Elements, Recent Advances, and Future Directions](https://mlsanity.com/paper/2406.05785/) (2024)
- [3EED: Ground Everything Everywhere in 3D](https://mlsanity.com/paper/2511.01755/) (2025)
- [Why LVLMs Are More Prone to Hallucinations in Longer Responses: The Role of Context](https://mlsanity.com/paper/2510.20229/) (2025)
- [MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semantics](https://mlsanity.com/paper/2407.15663/) (2024)
- [Talk2Event: Grounded Understanding of Dynamic Scenes from Event Cameras](https://mlsanity.com/paper/2507.17664/) (2025)
- [LidaRefer: Context-aware Outdoor 3D Visual Grounding for Autonomous Driving](https://mlsanity.com/paper/2411.04351/) (2024)
- [A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding](https://mlsanity.com/paper/2508.01197/) (2025)
- [Visual Grounding from Event Cameras](https://mlsanity.com/paper/2509.09584/) (2025)

## Abstract (arXiv)

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method, dubbed WildRefer, for this task by fully utilizing the rich appearance information in images, the position and geometric clues in point cloud as well as the semantic knowledge of language descriptions. Besides, we propose two novel datasets, i.e., STRefer and LifeRefer, which focus on large-scale human-centric daily-life scenarios accompanied with abundant 3D object and natural language annotations. Our datasets are significant for the research of 3D visual grounding in the wild and has huge potential to boost the development of autonomous driving and service robots. Extensive experiments and ablation studies demonstrate that our method achieves state-of-the-art performance on the proposed benchmarks. The code is provided in https://github.com/4DVLab/WildRefer.