# LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection

arXiv: https://arxiv.org/abs/2401.15865 · HTML: https://mlsanity.com/paper/2401.15865/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 38 references that are in the map.
- First posted on arXiv 29 Jan 2024.

## Builds on (most cited first, 29 of 29)

- [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)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Learned Step Size Quantization](https://mlsanity.com/paper/1902.08153/) (2019)
- [Up or Down? Adaptive Rounding for Post-Training Quantization](https://mlsanity.com/paper/2004.10568/) (2020)
- [Quantizing deep convolutional networks for efficient inference: A whitepaper](https://mlsanity.com/paper/1806.08342/) (2018)
- [BRECQ: Pushing the Limit of Post-Training Quantization by Block Reconstruction](https://mlsanity.com/paper/2102.05426/) (2021)
- [A White Paper on Neural Network Quantization](https://mlsanity.com/paper/2106.08295/) (2021)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking](https://mlsanity.com/paper/2303.11301/) (2023)
- [Low-bit Quantization of Neural Networks for Efficient Inference](https://mlsanity.com/paper/1902.06822/) (2019)
- [QDrop: Randomly Dropping Quantization for Extremely Low-bit Post-Training Quantization](https://mlsanity.com/paper/2203.05740/) (2022)
- [3D Object Detection for Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2206.09474/) (2022)
- [Fully Sparse 3D Object Detection](https://mlsanity.com/paper/2207.10035/) (2022)
- [PD-Quant: Post-Training Quantization based on Prediction Difference Metric](https://mlsanity.com/paper/2212.07048/) (2022)
- [NoisyQuant: Noisy Bias-Enhanced Post-Training Activation Quantization for Vision Transformers](https://mlsanity.com/paper/2211.16056/) (2022)
- [EasyQuant: Post-training Quantization via Scale Optimization](https://mlsanity.com/paper/2006.16669/) (2020)
- [Fully Convolutional One-Stage 3D Object Detection on LiDAR Range Images](https://mlsanity.com/paper/2205.13764/) (2022)
- [FastPillars: A Deployment-friendly Pillar-based 3D Detector](https://mlsanity.com/paper/2302.02367/) (2023)
- [Training Quantized Neural Networks with a Full-precision Auxiliary Module](https://mlsanity.com/paper/1903.11236/) (2019)
- [Super Sparse 3D Object Detection](https://mlsanity.com/paper/2301.02562/) (2023)
- [BiPointNet: Binary Neural Network for Point Clouds](https://mlsanity.com/paper/2010.05501/) (2020)
- [Make RepVGG Greater Again: A Quantization-aware Approach](https://mlsanity.com/paper/2212.01593/) (2022)
- [Quantization Mimic: Towards Very Tiny CNN for Object Detection](https://mlsanity.com/paper/1805.02152/) (2018)
- [RAPQ: Rescuing Accuracy for Power-of-Two Low-bit Post-training Quantization](https://mlsanity.com/paper/2204.12322/) (2022)
- [Deployment of Deep Neural Networks for Object Detection on Edge AI Devices with Runtime Optimization](https://mlsanity.com/paper/2108.08166/) (2021)
- [QD-BEV : Quantization-aware View-guided Distillation for Multi-view 3D Object Detection](https://mlsanity.com/paper/2308.10515/) (2023)
- [AQD: Towards Accurate Fully-Quantized Object Detection](https://mlsanity.com/paper/2007.06919/) (2020)

## Built on by (most cited first, 29 of 29)

- [MobileVLM V2: Faster and Stronger Baseline for Vision Language Model](https://mlsanity.com/paper/2402.03766/) (2024)
- [Delving into Multi-modal Multi-task Foundation Models for Road Scene Understanding: From Learning Paradigm Perspectives](https://mlsanity.com/paper/2402.02968/) (2024)
- [I-LLM: Efficient Integer-Only Inference for Fully-Quantized Low-Bit Large Language Models](https://mlsanity.com/paper/2405.17849/) (2024)
- [ConeSep: Cone-based Robust Noise-Unlearning Compositional Network for Composed Image Retrieval](https://mlsanity.com/paper/2604.20358/) (2026)
- [Information Entropy Guided Height-aware Histogram for Quantization-friendly Pillar Feature Encoder](https://mlsanity.com/paper/2405.18734/) (2024)
- [Saliency-Aware Quantized Imitation Learning for Efficient Robotic Control](https://mlsanity.com/paper/2505.15304/) (2025)
- [QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception](https://mlsanity.com/paper/2509.03704/) (2025)
- [A GEN AI Framework for Medical Note Generation](https://mlsanity.com/paper/2410.01841/) (2024)
- [Rethinking LoRA for Privacy-Preserving Federated Learning in Large Models](https://mlsanity.com/paper/2602.19926/) (2026)
- [PTQ4RIS: Post-Training Quantization for Referring Image Segmentation](https://mlsanity.com/paper/2409.17020/) (2024)
- [Beyond Frame-wise Tracking: A Trajectory-based Paradigm for Efficient Point Cloud Tracking](https://mlsanity.com/paper/2509.11453/) (2025)
- [Diffusion-Based Image Editing: An Unforeseen Adversary to Robust Invisible Watermarks](https://mlsanity.com/paper/2511.05598/) (2025)
- [Same Question, Different Answer? Measuring and Mitigating Prompt Privilege for Equitable AI Access](https://mlsanity.com/paper/2608.08942/) (2026)
- [PillarTrack:Boosting Pillar Representation for Transformer-based 3D Single Object Tracking on Point Clouds](https://mlsanity.com/paper/2404.07495/) (2024)
- [Vanishing Watermarks: Diffusion-Based Image Editing Undermines Robust Invisible Watermarking](https://mlsanity.com/paper/2602.20680/) (2026)
- [Coarse-to-Fine Personalized LLM Impressions for Streamlined Radiology Reports](https://mlsanity.com/paper/2508.15845/) (2025)
- [Editing on the Generative Manifold: A Theoretical and Empirical Study of General Diffusion-Based Image Editing Trade-offs](https://mlsanity.com/paper/2603.29736/) (2026)
- [UPAQ: A Framework for Real-Time and Energy-Efficient 3D Object Detection in Autonomous Vehicles](https://mlsanity.com/paper/2501.04213/) (2025)
- [FADE: Adversarial Concept Erasure in Flow Models](https://mlsanity.com/paper/2507.12283/) (2025)
- [Robust Concept Erasure in Diffusion Models: A Theoretical Perspective on Security and Robustness](https://mlsanity.com/paper/2509.12024/) (2025)
- [Robust RGB-T Tracking via Learnable Visual Fourier Prompt Fine-tuning and Modality Fusion Prompt Generation](https://mlsanity.com/paper/2509.19733/) (2025)
- [D4C: Data-Free Quantization for Contrastive Language-Image Pre-training Models](https://mlsanity.com/paper/2511.15411/) (2025)
- [RPIQ: Residual-Projected Multi-Collaboration Closed-Loop and Single Instance Quantization for Visually Impaired Assistance](https://mlsanity.com/paper/2601.02888/) (2026)
- [Mixed Precision PointPillars for Efficient 3D Object Detection with TensorRT](https://mlsanity.com/paper/2601.12638/) (2026)
- [Inlier-Centric Post-Training Quantization for Object Detection Models](https://mlsanity.com/paper/2602.03472/) (2026)
- [When Denoising Becomes Unsigning: Theoretical and Empirical Analysis of Watermark Fragility Under Diffusion-Based Image Editing](https://mlsanity.com/paper/2603.04696/) (2026)
- [Editing Away the Evidence: Diffusion-Based Image Manipulation and the Failure Modes of Robust Watermarking](https://mlsanity.com/paper/2603.12949/) (2026)
- [On the Controllability-Fidelity Frontier in Diffusion Editing](https://mlsanity.com/paper/2606.09901/) (2026)
- [MAETrack: Unleashing the Potential of Pretrained Geometric Priors for 3D Single Object Tracking](https://mlsanity.com/paper/2609.16695/) (2026)

## Abstract (arXiv)

Due to highly constrained computing power and memory, deploying 3D lidar-based detectors on edge devices equipped in autonomous vehicles and robots poses a crucial challenge. Being a convenient and straightforward model compression approach, Post-Training Quantization (PTQ) has been widely adopted in 2D vision tasks. However, applying it directly to 3D lidar-based tasks inevitably leads to performance degradation. As a remedy, we propose an effective PTQ method called LiDAR-PTQ, which is particularly curated for 3D lidar detection (both SPConv-based and SPConv-free). Our LiDAR-PTQ features three main components, (1) a sparsity-based calibration method to determine the initialization of quantization parameters, (2) a Task-guided Global Positive Loss (TGPL) to reduce the disparity between the final predictions before and after quantization, (3) an adaptive rounding-to-nearest operation to minimize the layerwise reconstruction error. Extensive experiments demonstrate that our LiDAR-PTQ can achieve state-of-the-art quantization performance when applied to CenterPoint (both Pillar-based and Voxel-based). To our knowledge, for the very first time in lidar-based 3D detection tasks, the PTQ INT8 model's accuracy is almost the same as the FP32 model while enjoying 3× inference speedup. Moreover, our LiDAR-PTQ is cost-effective being 30× faster than the quantization-aware training method. Code will be released at urlhttps://github.com/StiphyJay/LiDAR-PTQ.