mlsanityData to 7 Oct 2026

SpotNet: An Image Centric, Lidar Anchored Approach To Long Range Perception

arXiv 2405.15843 ↗First posted 24 May 2024cs.CV cs.AIcited by 2

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Abstract (arXiv)

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and 3D detection tasks, can lead to accurate 3D object detection with very sparse LiDAR support. Unlike more recent bird's-eye-view (BEV) sensor-fusion methods which scale with range r as O(r2), SpotNet scales as O(1) with range. We argue that such an architecture is ideally suited to leverage each sensor's strength, i.e. semantic understanding from images and accurate range finding from LiDAR data. Finally we show that anchoring detections on LiDAR points removes the need to regress distances, and so the architecture is able to transfer from 2MP to 8MP resolution images without re-training.

Key facts. Cited by 2 papers in the map (data through 7 Oct 2026). Builds on 24 of its 32 references that are in the map. First posted on arXiv 24 May 2024.

Builds on

24 of 32 references.

References · 24

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
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  12. 2019CenterMask : Real-Time Anchor-Free Instance Segmentationcited by 200
12 more
  1. 2021Deep Parametric Continuous Convolutional Neural Networkscited by 161
  2. 2021IntentNet: Learning to Predict Intention from Raw Sensor Datacited by 158
  3. 2020PnPNet: End-to-End Perception and Prediction with Tracking in the Loopcited by 143
  4. 2019GS3D: An Efficient 3D Object Detection Framework for Autonomous Drivingcited by 106
  5. 2018MonoGRNet: A Geometric Reasoning Network for Monocular 3D Object Localizationcited by 84
  6. 2020HDNET: Exploiting HD Maps for 3D Object Detectioncited by 78
  7. 2019Sensor Fusion for Joint 3D Object Detection and Semantic Segmentationcited by 48
  8. 2020Multi-View Fusion of Sensor Data for Improved Perception and Prediction in Autonomous Drivingcited by 41
  9. 2019Triangulation Learning Network: from Monocular to Stereo 3D Object Detectioncited by 40
  10. 2019MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimationcited by 39
  11. 2019Mono3D++: Monocular 3D Vehicle Detection with Two-Scale 3D Hypotheses and Task Priorscited by 37
  12. 2019Robust Semantic Segmentation in Adverse Weather Conditions by means of Sensor Data Fusioncited by 18

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Cited by year

Citing papers per year: 2024: 1; 2025: 1.

2 papers.

  1. 2024Robust Long-Range Perception Against Sensor Misalignment in Autonomous Vehiclescited by 5
  2. 2025Robust sensor fusion against on-vehicle sensor stalenesscited by 2