mlsanityData to 14 Oct 2026

CatFree3D: Category-agnostic 3D Object Detection with Diffusion

arXiv 2408.12747 ↗First posted 22 Aug 2024cs.CVcited by 2

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Abstract (arXiv)

Image-based 3D object detection is widely employed in applications such as autonomous vehicles and robotics, yet current systems struggle with generalisation due to complex problem setup and limited training data. We introduce a novel pipeline that decouples 3D detection from 2D detection and depth prediction, using a diffusion-based approach to improve accuracy and support category-agnostic detection. Additionally, we introduce the Normalised Hungarian Distance (NHD) metric for an accurate evaluation of 3D detection results, addressing the limitations of traditional IoU and GIoU metrics. Experimental results demonstrate that our method achieves state-of-the-art accuracy and strong generalisation across various object categories and datasets.

Key facts. Cited by 2 papers in the map (data through 14 Oct 2026). Builds on 63 of its 73 references that are in the map. First posted on arXiv 22 Aug 2024.

Builds on

63 of 73 references.

References · 63

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38 more
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50 most cited of 63 All 63 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 1; 2025: 0; 2026: 1.

2 papers.

  1. 2024Open Vocabulary Monocular 3D Object Detectioncited by 23
  2. 2026MoCA3D: Monocular 3D Bounding Box Prediction in the Image Planecited by 0