mlsanityData to 14 Oct 2026

DiffuBox: Refining 3D Object Detection with Point Diffusion

arXiv 2405.16034 ↗First posted 25 May 2024cs.CVcited by 7

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Abstract (arXiv)

Ensuring robust 3D object detection and localization is crucial for many applications in robotics and autonomous driving. Recent models, however, face difficulties in maintaining high performance when applied to domains with differing sensor setups or geographic locations, often resulting in poor localization accuracy due to domain shift. To overcome this challenge, we introduce a novel diffusion-based box refinement approach. This method employs a domain-agnostic diffusion model, conditioned on the LiDAR points surrounding a coarse bounding box, to simultaneously refine the box's location, size, and orientation. We evaluate this approach under various domain adaptation settings, and our results reveal significant improvements across different datasets, object classes and detectors. Our PyTorch implementation is available at hrefhttps://github.com/cxy1997/DiffuBoxhttps://github.com/cxy1997/DiffuBox.

Key facts. Cited by 7 papers in the map (data through 14 Oct 2026). Builds on 48 of its 59 references that are in the map. First posted on arXiv 25 May 2024.

Builds on

48 of 59 references.

References · 48

  1. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  3. 2020Denoising Diffusion Implicit Modelscited by 9,781
  4. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
  5. 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,255
  6. 2015Deep Unsupervised Learning using Nonequilibrium Thermodynamicscited by 7,058
  7. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  8. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  9. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  10. 2022Elucidating the Design Space of Diffusion-Based Generative Modelscited by 3,045
  11. 2022DreamFusion: Text-to-3D using 2D Diffusioncited by 3,025
  12. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
36 more
  1. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  2. 2020Center-based 3D Object Detection and Trackingcited by 1,144
  3. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 941
  4. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 891
  5. 2021Diffusion Probabilistic Models for 3D Point Cloud Generationcited by 735
  6. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  7. 2018ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentationcited by 623
  8. 2022LION: Latent Point Diffusion Models for 3D Shape Generationcited by 553
  9. 20213D Shape Generation and Completion through Point-Voxel Diffusioncited by 516
  10. 2019PointFlow: 3D Point Cloud Generation with Continuous Normalizing Flowscited by 488
  11. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  12. 2022DiffusionDet: Diffusion Model for Object Detectioncited by 354
  13. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  14. 2021Voxel Transformer for 3D Object Detectioncited by 247
  15. 20203D Object Detection with Pointformercited by 194
  16. 2020SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentationcited by 170
  17. 2021ST3D: Self-training for Unsupervised Domain Adaptation on 3D Object Detectioncited by 159
  18. 2020Train in Germany, Test in The USA: Making 3D Object Detectors Generalizecited by 151
  19. 2020Pillar-based Object Detection for Autonomous Drivingcited by 137
  20. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  21. 2023PC2: Projection-Conditioned Point Cloud Diffusion for Single-Image 3D Reconstructioncited by 84
  22. 2017Minimal-Entropy Correlation Alignment for Unsupervised Deep Domain Adaptationcited by 71
  23. 2021ST3D++: Denoised Self-training for Unsupervised Domain Adaptation on 3D Object Detectioncited by 57
  24. 2022CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentationcited by 54
  25. 2022Ithaca365: Dataset and Driving Perception under Repeated and Challenging Weather Conditionscited by 48
  26. 2022Learning to Detect Mobile Objects from LiDAR Scans Without Labelscited by 44
  27. 2021ConDA: Unsupervised Domain Adaptation for LiDAR Segmentation via Regularized Domain Concatenationcited by 41
  28. 2022Domain Adaptive Object Detection for Autonomous Driving under Foggy Weathercited by 41
  29. 2019Domain Adaptation for Vehicle Detection from Bird's Eye View LiDAR Point Cloud Datacited by 35
  30. 2017Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environmentscited by 22
  31. 2021Exploiting Playbacks in Unsupervised Domain Adaptation for 3D Object Detectioncited by 21
  32. 2023Compositional Semantic Mix for Domain Adaptation in Point Cloud Segmentationcited by 20
  33. 2023Reward Finetuning for Faster and More Accurate Unsupervised Object Discoverycited by 14
  34. 2023Unsupervised Adaptation from Repeated Traversals for Autonomous Drivingcited by 13
  35. 2023Diffusion-based 3D Object Detection with Random Boxescited by 5
  36. 2023DiffRef3D: A Diffusion-based Proposal Refinement Framework for 3D Object Detectioncited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 2; 2025: 2; 2026: 3.

7 papers.

  1. 2025Robust Single-Stage Fully Sparse 3D Object Detection via Detachable Latent Diffusioncited by 12
  2. 2024Learning 3D Perception from Others' Predictionscited by 4
  3. 2025A Review of 3D Object Detection with Vision-Language Modelscited by 4
  4. 2024CatFree3D: Category-agnostic 3D Object Detection with Diffusioncited by 2
  5. 2026MambaFusion: Adaptive State-Space Fusion for Multimodal 3D Object Detectioncited by 1
  6. 2026When the City Teaches the Car: Label-Free 3D Perception from Infrastructurecited by 0
  7. 2026Autonomous Driving Research Requires a Community-Driven Data Paradigmcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 20233DifFusionDet: Diffusion Model for 3D Object Detection with Robust LiDAR-Camera Fusion
  2. 2025Diffusion Domain Teacher: Diffusion Guided Domain Adaptive Object Detector
  3. 2025Generalized Diffusion Detector: Mining Robust Features from Diffusion Models for Domain-Generalized Detection
  4. 2024Diff3DETR:Agent-based Diffusion Model for Semi-supervised 3D Object Detection
  5. 2026DiffuSAM: Diffusion Guided Zero-Shot Object Grounding for Remote Sensing Imagery
  6. 20233DiffTection: 3D Object Detection with Geometry-Aware Diffusion Features
  7. 2023Diffusion-SS3D: Diffusion Model for Semi-supervised 3D Object Detection
  8. 2024UADA3D: Unsupervised Adversarial Domain Adaptation for 3D Object Detection with Sparse LiDAR and Large Domain Gaps