# Unlocking Textual and Visual Wisdom: Open-Vocabulary 3D Object Detection Enhanced by Comprehensive Guidance from Text and Image

arXiv: https://arxiv.org/abs/2407.05256 · HTML: https://mlsanity.com/paper/2407.05256/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 31 references that are in the map.
- First posted on arXiv 7 Jul 2024.

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

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [LISA: Reasoning Segmentation via Large Language Model](https://mlsanity.com/paper/2308.00692/) (2023)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [PointCLIP: Point Cloud Understanding by CLIP](https://mlsanity.com/paper/2112.02413/) (2021)
- [PIXOR: Real-time 3D Object Detection from Point Clouds](https://mlsanity.com/paper/1902.06326/) (2019)
- [An End-to-End Transformer Model for 3D Object Detection](https://mlsanity.com/paper/2109.08141/) (2021)
- [Group-Free 3D Object Detection via Transformers](https://mlsanity.com/paper/2104.00678/) (2021)
- [PointCLIP V2: Prompting CLIP and GPT for Powerful 3D Open-world Learning](https://mlsanity.com/paper/2211.11682/) (2022)
- [PLA: Language-Driven Open-Vocabulary 3D Scene Understanding](https://mlsanity.com/paper/2211.16312/) (2022)
- [DetCLIP: Dictionary-Enriched Visual-Concept Paralleled Pre-training for Open-world Detection](https://mlsanity.com/paper/2209.09407/) (2022)
- [3D Object Detection for Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2206.09474/) (2022)
- [SESS: Self-Ensembling Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/1912.11803/) (2019)
- [Open-Vocabulary Point-Cloud Object Detection without 3D Annotation](https://mlsanity.com/paper/2304.00788/) (2023)
- [CLIP2: Contrastive Language-Image-Point Pretraining from Real-World Point Cloud Data](https://mlsanity.com/paper/2303.12417/) (2023)
- [MSMDFusion: Fusing LiDAR and Camera at Multiple Scales with Multi-Depth Seeds for 3D Object Detection](https://mlsanity.com/paper/2209.03102/) (2022)
- [Transformation-Equivariant 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/2211.11962/) (2022)
- [CoDA: Collaborative Novel Box Discovery and Cross-modal Alignment for Open-vocabulary 3D Object Detection](https://mlsanity.com/paper/2310.02960/) (2023)
- [Object2Scene: Putting Objects in Context for Open-Vocabulary 3D Detection](https://mlsanity.com/paper/2309.09456/) (2023)
- [Rethinking IoU-based Optimization for Single-stage 3D Object Detection](https://mlsanity.com/paper/2207.09332/) (2022)
- [Dual-Perspective Knowledge Enrichment for Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2401.05011/) (2024)

## Built on by (most cited first, 14 of 14)

- [Self-Calibrated CLIP for Training-Free Open-Vocabulary Segmentation](https://mlsanity.com/paper/2411.15869/) (2024)
- [OpenAD: Open-World Autonomous Driving Benchmark for 3D Object Detection](https://mlsanity.com/paper/2411.17761/) (2024)
- [Uncertainty Meets Diversity: A Comprehensive Active Learning Framework for Indoor 3D Object Detection](https://mlsanity.com/paper/2503.16125/) (2025)
- [Zoo3D: Zero-Shot 3D Object Detection at Scene Level](https://mlsanity.com/paper/2511.20253/) (2025)
- [From Holistic to Localized: Local Enhanced Adapters for Efficient Visual Instruction Fine-Tuning](https://mlsanity.com/paper/2411.12787/) (2024)
- [Domain Expansion and Boundary Growth for Open-Set Single-Source Domain Generalization](https://mlsanity.com/paper/2411.02920/) (2024)
- [Towards 3D Objectness Learning in an Open World](https://mlsanity.com/paper/2510.17686/) (2025)
- [GLRD: Global-Local Collaborative Reason and Debate with PSL for 3D Open-Vocabulary Detection](https://mlsanity.com/paper/2503.20682/) (2025)
- [NeuroVoxel-LM: Language-Aligned 3D Perception via Dynamic Voxelization and Meta-Embedding](https://mlsanity.com/paper/2507.20110/) (2025)
- [VSRD++: Autolabeling for 3D Object Detection via Instance-Aware Volumetric Silhouette Rendering](https://mlsanity.com/paper/2512.01178/) (2025)
- [Auto-Vocabulary 3D Object Detection](https://mlsanity.com/paper/2512.16077/) (2025)
- [Group3D: MLLM-Driven Semantic Grouping for Open-Vocabulary 3D Object Detection](https://mlsanity.com/paper/2603.21944/) (2026)
- [Breaking the Model Forgetting Cycle in Long-Incremental 3D Object Detection](https://mlsanity.com/paper/2607.14560/) (2026)
- [Open-Vocabulary 3D Object Detection with Co-Distillation Discovery and Dual Guidance Robust Training](https://mlsanity.com/paper/2608.19973/) (2026)

## Abstract (arXiv)

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various open-vocabulary tasks with abundant training data, OV-3DDet faces a significant challenge due to the limited availability of training data. Although some pioneering efforts have integrated vision-language models (VLM) knowledge into OV-3DDet learning, the full potential of these foundational models has yet to be fully exploited. In this paper, we unlock the textual and visual wisdom to tackle the open-vocabulary 3D detection task by leveraging the language and vision foundation models. We leverage a vision foundation model to provide image-wise guidance for discovering novel classes in 3D scenes. Specifically, we utilize a object detection vision foundation model to enable the zero-shot discovery of objects in images, which serves as the initial seeds and filtering guidance to identify novel 3D objects. Additionally, to align the 3D space with the powerful vision-language space, we introduce a hierarchical alignment approach, where the 3D feature space is aligned with the vision-language feature space using a pre-trained VLM at the instance, category, and scene levels. Through extensive experimentation, we demonstrate significant improvements in accuracy and generalization, highlighting the potential of foundation models in advancing open-vocabulary 3D object detection in real-world scenarios.