mlsanityData to 7 Oct 2026

GO-N3RDet: Geometry Optimized NeRF-enhanced 3D Object Detector

arXiv 2503.15211 ↗First posted 19 Mar 2025cs.CVcited by 5

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Abstract (arXiv)

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D information, constructing 3D features from multi-view 2D images is challenging. Addressing that, we introduce a unique 3D positional information embedded voxel optimization mechanism to fuse multi-view features. To prioritize neural field reconstruction in object regions, we also devise a double importance sampling scheme for the NeRF branch of our detector. We additionally propose an opacity optimization module for precise voxel opacity prediction by enforcing multi-view consistency constraints. Moreover, to further improve voxel density consistency across multiple perspectives, we incorporate ray distance as a weighting factor to minimize cumulative ray errors. Our unique modules synergetically form an end-to-end neural model that establishes new state-of-the-art in NeRF-based multi-view 3D detection, verified with extensive experiments on ScanNet and ARKITScenes. Code will be available at https://github.com/ZechuanLi/GO-N3RDet.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 37 of its 51 references that are in the map. First posted on arXiv 19 Mar 2025.

Builds on

37 of 51 references.

References · 37

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25 more
  1. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  2. 2021ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Datacited by 442
  3. 2020SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimationcited by 202
  4. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 190
  5. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  6. 2020Total3DUnderstanding: Joint Layout, Object Pose and Mesh Reconstruction for Indoor Scenes from a Single Imagecited by 170
  7. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  8. 2024HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splattingcited by 141
  9. 2020H3DNet: 3D Object Detection Using Hybrid Geometric Primitivescited by 123
  10. 2020ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votescited by 119
  11. 2021FCAF3D: Fully Convolutional Anchor-Free 3D Object Detectioncited by 97
  12. 2021Holistic 3D Scene Understanding from a Single Image with Implicit Representationcited by 94
  13. 2020MLCVNet: Multi-Level Context VoteNet for 3D Object Detectioncited by 80
  14. 2020Generative Sparse Detection Networks for 3D Single-shot Object Detectioncited by 69
  15. 2021Back-tracing Representative Points for Voting-based 3D Object Detection in Point Cloudscited by 67
  16. 2022SASA: Semantics-Augmented Set Abstraction for Point-based 3D Object Detectioncited by 52
  17. 2018Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimationcited by 51
  18. 2023NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detectioncited by 51
  19. 2022NeRF-RPN: A general framework for object detection in NeRFscited by 46
  20. 2023TR3D: Towards Real-Time Indoor 3D Object Detectioncited by 32
  21. 2019PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Pointscited by 16
  22. 2023Pixel-Aligned Recurrent Queries for Multi-View 3D Object Detectioncited by 14
  23. 2024CN-RMA: Combined Network with Ray Marching Aggregation for 3D Indoors Object Detection from Multi-view Imagescited by 7
  24. 2024MVSDet: Multi-View Indoor 3D Object Detection via Efficient Plane Sweepscited by 7
  25. 2023Real-Time Onboard Object Detection for Augmented Reality: Enhancing Head-Mounted Display with YOLOv8cited by 3

Built on by

Cited by year (2026 to 7 Oct)

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

5 papers.

  1. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  2. 2025Boosting Multi-View Indoor 3D Object Detection via Adaptive 3D Volume Constructioncited by 1
  3. 2025TUN3D: Towards Real-World Scene Understanding from Unposed Imagescited by 1
  4. 2026Fast and Generalizable NeRF Architecture Selection for Satellite Scene Reconstructioncited by 0
  5. 2026Group3D: MLLM-Driven Semantic Grouping for Open-Vocabulary 3D Object Detectioncited by 0