# HeAL3D: Heuristical-enhanced Active Learning for 3D Object Detection

arXiv: https://arxiv.org/abs/2505.00507 · HTML: https://mlsanity.com/paper/2505.00507/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 44 references that are in the map.
- First posted on arXiv 1 May 2025.

## Builds on (most cited first, 28 of 28)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Deep Bayesian Active Learning with Image Data](https://mlsanity.com/paper/1703.02910/) (2017)
- [Deep Batch Active Learning by Diverse, Uncertain Gradient Lower Bounds](https://mlsanity.com/paper/1906.03671/) (2019)
- [Learning Loss for Active Learning](https://mlsanity.com/paper/1905.03677/) (2019)
- [Orthographic Feature Transform for Monocular 3D Object Detection](https://mlsanity.com/paper/1811.08188/) (2018)
- [RSN: Range Sparse Net for Efficient, Accurate LiDAR 3D Object Detection](https://mlsanity.com/paper/2106.13365/) (2021)
- [Active Learning for Deep Object Detection via Probabilistic Modeling](https://mlsanity.com/paper/2103.16130/) (2021)
- [Sequential Graph Convolutional Network for Active Learning](https://mlsanity.com/paper/2006.10219/) (2020)
- [Active Learning by Feature Mixing](https://mlsanity.com/paper/2203.07034/) (2022)
- [Bayesian Generative Active Deep Learning](https://mlsanity.com/paper/1904.11643/) (2019)
- [Entropy-based Active Learning for Object Detection with Progressive Diversity Constraint](https://mlsanity.com/paper/2204.07965/) (2022)
- [Localization-Aware Active Learning for Object Detection](https://mlsanity.com/paper/1801.05124/) (2018)
- [Deep Active Learning for Efficient Training of a LiDAR 3D Object Detector](https://mlsanity.com/paper/1901.10609/) (2019)
- [MAN TruckScenes: A multimodal dataset for autonomous trucking in diverse conditions](https://mlsanity.com/paper/2407.07462/) (2024)
- [Deep Active Learning for Biased Datasets via Fisher Kernel Self-Supervision](https://mlsanity.com/paper/2003.00393/) (2020)
- [Consistency-based Active Learning for Object Detection](https://mlsanity.com/paper/2103.10374/) (2021)
- [Not All Labels Are Equal: Rationalizing The Labeling Costs for Training Object Detection](https://mlsanity.com/paper/2106.11921/) (2021)
- [Exploring Active 3D Object Detection from a Generalization Perspective](https://mlsanity.com/paper/2301.09249/) (2023)
- [Bi3D: Bi-domain Active Learning for Cross-domain 3D Object Detection](https://mlsanity.com/paper/2303.05886/) (2023)
- [The Why, When, and How to Use Active Learning in Large-Data-Driven 3D Object Detection for Safe Autonomous Driving: An Empirical Exploration](https://mlsanity.com/paper/2401.16634/) (2024)
- [ActiveAnno3D -- An Active Learning Framework for Multi-Modal 3D Object Detection](https://mlsanity.com/paper/2402.03235/) (2024)
- [KECOR: Kernel Coding Rate Maximization for Active 3D Object Detection](https://mlsanity.com/paper/2307.07942/) (2023)
- [Bayesian Active Learning by Disagreements: A Geometric Perspective](https://mlsanity.com/paper/2105.02543/) (2021)
- [BaSAL: Size-Balanced Warm Start Active Learning for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2310.08035/) (2023)

## Abstract (arXiv)

Active Learning has proved to be a relevant approach to perform sample selection for training models for Autonomous Driving. Particularly, previous works on active learning for 3D object detection have shown that selection of samples in uncontrolled scenarios is challenging. Furthermore, current approaches focus exclusively on the theoretical aspects of the sample selection problem but neglect the practical insights that can be obtained from the extensive literature and application of 3D detection models. In this paper, we introduce HeAL (Heuristical-enhanced Active Learning for 3D Object Detection) which integrates those heuristical features together with Localization and Classification to deliver the most contributing samples to the model's training. In contrast to previous works, our approach integrates heuristical features such as object distance and point-quantity to estimate the uncertainty, which enhance the usefulness of selected samples to train detection models. Our quantitative evaluation on KITTI shows that HeAL presents competitive mAP with respect to the State-of-the-Art, and achieves the same mAP as the full-supervised baseline with only 24% of the samples.