mlsanityData to 7 Oct 2026

ActiveAnno3D -- An Active Learning Framework for Multi-Modal 3D Object Detection

arXiv 2402.03235 ↗First posted 5 Feb 2024cs.CV cs.LGcited by 17

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Abstract (arXiv)

The curation of large-scale datasets is still costly and requires much time and resources. Data is often manually labeled, and the challenge of creating high-quality datasets remains. In this work, we fill the research gap using active learning for multi-modal 3D object detection. We propose ActiveAnno3D, an active learning framework to select data samples for labeling that are of maximum informativeness for training. We explore various continuous training methods and integrate the most efficient method regarding computational demand and detection performance. Furthermore, we perform extensive experiments and ablation studies with BEVFusion and PV-RCNN on the nuScenes and TUM Traffic Intersection dataset. We show that we can achieve almost the same performance with PV-RCNN and the entropy-based query strategy when using only half of the training data (77.25 mAP compared to 83.50 mAP) of the TUM Traffic Intersection dataset. BEVFusion achieved an mAP of 64.31 when using half of the training data and 75.0 mAP when using the complete nuScenes dataset. We integrate our active learning framework into the proAnno labeling tool to enable AI-assisted data selection and labeling and minimize the labeling costs. Finally, we provide code, weights, and visualization results on our website: https://active3d-framework.github.io/active3d-framework.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 32 of its 49 references that are in the map. First posted on arXiv 5 Feb 2024.

Builds on

32 of 49 references.

References · 32

  1. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  2. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  5. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  6. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  7. 2019Deep Batch Active Learning by Diverse, Uncertain Gradient Lower Boundscited by 602
  8. 2020Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Drivingcited by 73
  9. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  10. 2019Deep Active Learning for Efficient Training of a LiDAR 3D Object Detectorcited by 45
  11. 20193D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streamscited by 35
  12. 2020Trajectory Prediction in Autonomous Driving with a Lane Heading Auxiliary Losscited by 30
20 more
  1. 2023Exploring Active 3D Object Detection from a Generalization Perspectivecited by 26
  2. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  3. 2023Entropic Open-set Active Learningcited by 22
  4. 2023Bi3D: Bi-domain Active Learning for Cross-domain 3D Object Detectioncited by 21
  5. 2019Providentia -- A Large-Scale Sensor System for the Assistance of Autonomous Vehicles and Its Evaluationcited by 17
  6. 2024The Why, When, and How to Use Active Learning in Large-Data-Driven 3D Object Detection for Safe Autonomous Driving: An Empirical Explorationcited by 17
  7. 2022Exploring Diversity-based Active Learning for 3D Object Detection in Autonomous Drivingcited by 16
  8. 2023Salient Sign Detection In Safe Autonomous Driving: AI Which Reasons Over Full Visual Contextcited by 14
  9. 2021On Salience-Sensitive Sign Classification in Autonomous Vehicle Path Planning: Experimental Explorations with a Novel Datasetcited by 13
  10. 2023KECOR: Kernel Coding Rate Maximization for Active 3D Object Detectioncited by 13
  11. 2024TUMTraf Event: Calibration and Fusion Resulting in a Dataset for Roadside Event-Based and RGB Camerascited by 13
  12. 2023Robust Traffic Light Detection Using Salience-Sensitive Loss: Computational Framework and Evaluationscited by 11
  13. 2022A Survey of Robust 3D Object Detection Methods in Point Cloudscited by 10
  14. 2023Monocular 3D Object Detection with LiDAR Guided Semi Supervised Active Learningcited by 10
  15. 2022Real-Time And Robust 3D Object Detection with Roadside LiDARscited by 9
  16. 2023Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehiclescited by 9
  17. 2023Multi-Task Consistency for Active Learningcited by 9
  18. 2023BaSAL: Size-Balanced Warm Start Active Learning for LiDAR Semantic Segmentationcited by 8
  19. 2017Episode-Based Active Learning with Bayesian Neural Networkscited by 4
  20. 2020Co-training for On-board Deep Object Detectioncited by 4

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Citing papers per year: 2024: 8; 2025: 9.

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  1. 2024Towards Explainable, Safe Autonomous Driving with Language Embeddings for Novelty Identification and Active Learning: Framework and Experimental Analysis with Real-World Data Setscited by 25
  2. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  3. 2025Perspective-Invariant 3D Object Detectioncited by 16
  4. 2024Language-Driven Active Learning for Diverse Open-Set 3D Object Detectioncited by 15
  5. 2025Uncertainty Meets Diversity: A Comprehensive Active Learning Framework for Indoor 3D Object Detectioncited by 7
  6. 2024Evaluating Vision-Language Models for Zero-Shot Detection, Classification, and Association of Motorcycles, Passengers, and Helmetscited by 4
  7. 2024PointCompress3D: A Point Cloud Compression Framework for Roadside LiDARs in Intelligent Transportation Systemscited by 2
  8. 2024Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Drivingcited by 2
  9. 2024Evaluating Cascaded Methods of Vision-Language Models for Zero-Shot Detection and Association of Hardhats for Increased Construction Safetycited by 2
  10. 2025Towards Vision Zero: The TUM Traffic Accid3nD Datasetcited by 2
  11. 2025Automated Data Curation Using GPS & NLP to Generate Instruction-Action Pairs for Autonomous Vehicle Vision-Language Navigation Datasetscited by 2
  12. 2024Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detectioncited by 1
5 more
  1. 2025Enhancing Highway Safety: Accident Detection on the A9 Test Stretch Using Roadside Sensorscited by 1
  2. 2025Inconsistency-based Active Learning for LiDAR Object Detectioncited by 1
  3. 2025Safety-Critical Learning for Long-Tail Events: The TUM Traffic Accident Datasetcited by 1
  4. 2025Finding the Reflection Point: Unpadding Images to Remove Data Augmentation Artifacts in Large Open Source Image Datasets for Machine Learningcited by 0
  5. 2025HeAL3D: Heuristical-enhanced Active Learning for 3D Object Detectioncited by 0