3D Object Detection

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Overview

3D object detection predicts what objects are present and where they are in three-dimensional space, often as labeled bounding boxes. Methods include LiDAR-based point, voxel, and pillar networks; camera systems that lift image features into bird’s-eye view; and fusion of cameras, LiDAR, and radar, sometimes with temporal or cooperative data from multiple vehicles. Researchers evaluate these approaches on driving benchmarks such as KITTI, nuScenes, and Waymo, as well as indoor, medical, aerial, and other specialized datasets. A central challenge is balancing accurate detection of small, distant, or occluded objects with efficient inference, limited labels, and reliability under changes in sensors, weather, and deployment conditions.

Latest papers

CardsList

181 papers14 papers in the last four weeks, down 30% on the four weeks before. 0.1% of all new papers.

  1. Shape-Prior-Based Point Cloud Completion for Single-Stage Fully Sparse 3D Object Detection

    May 30, 2026Kaizheng Wang, Mingqian Ji, Jian Yang +1Point Cloud Completion3D Reconstruction

    School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China

  2. Adaptation-Free Heterogeneous Collaborative Perception with Unseen Agent Configurations

    May 26, 2026Hyunchul Bae, Heejin AhnZero-Shot LearningCommunication-Efficient Collaborative Perception

    School of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon, Korea 34141

  3. Neuromorphic LiDAR-based Bird's Eye View Object Detection using Energy-efficient Spiking Neural Networks

    May 24, 2026Sambit Mohapatra, Senthil Yogamani, Heinrich Gotzig +1Lidar-Based 3D Object DetectionAutonomous Driving Perception

    Valeo, Germany · TU Ilmenau, Germany · Valeo, Ireland

  4. Semantics-Guided Multimodal Masked Autoencoder Pretraining for 3D BEV Object Detection

    May 24, 2026Prabuddhi Wariyapperuma, Rajitha de Silva, Marc Hanheide +2Lidar-Based 3D Object DetectionMasked Autoencoders

    University of Lincoln, Lincoln Centre for Autonomous Systems, Lincoln, UK. · University of Cambridge, Institute for Manufacturing, Department of Engineering, Cambridge, UK.

  5. MR-LiDAR: A Multi-Resolution Roadside LiDAR Benchmark for Perception Diagnostics and Deployment Guidance

    May 23, 2026Shunlai Cui, Peng Cao, Yuan Zhu +5Benchmark Design3D Object Detection

    School of Transportation and Logistics, Southwest Jiaotong University, Chengdu, 610031, China · Department of Electrical and Computer Engineering, Old Dominion University, Norfolk, VA, 23529, USA · School of Transportation and Logistics, Southwest Jiaotong University +5

  6. Scene Reconstruction as Mapping Priors for 3D Detection

    May 21, 2026Yang Fu, Yuliang Zou, Hao Xiang +8Autonomous DrivingAutonomous Driving Perception

    Waymo LLC · UC San Deigo

  7. RCGDet3D: Rethinking 4D Radar-Camera Fusion-based 3D Object Detection with Enhanced Radar Feature Encoding

    May 20, 2026Weiyi Xiong, Bing ZhuCamera-Radar Fusion3D Object Detection

    School of Automation Science and Electrical Engineering, Beihang University, Beijing, P.R. China

  8. Co-Fusion4D: Spatio-temporal Collaborative Fusion for Robust 3D Object Detection

    May 19, 2026Wenxuan Li, Qin Zou, Shoubing Chen +3Autonomous Driving Perception3D Object Detection

  9. Towards Camera-Robust 3D Localization: Equation-Anchored Tool-Use for MLLMs

    May 19, 2026Xueying Jiang, Wenhao Li, Quanhao Qian +43D Object Detection3D VLMs

    1Nanyang Technological University · 2DAMO Academy, Alibaba Group · 3HuPan Lab +1

  10. 4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving

    May 18, 2026Kane Qian, Xin Zhao, Yining Shi +7Autonomous Driving DatasetsAutonomous Driving

    1Tsinghua University. · 2Hesai Technology Co., Ltd.

  11. Coarse Semantic Injection for LLM-Conditioned Structured Indoor Prediction

    May 16, 2026Shuliang Zhu, Tomiwa Adey, Jinjia Zhou3D Scene PredictionPoint Cloud Learning

  12. 3DTMDet: A Dual-Path Synergy Network of Transformer and SSM for 3D Object Detection in Point Clouds

    May 15, 2026Bingwen Qiu, Yuan Liu, Junqi Bai +53D ViTs3D Object Detection

    aSchool of Electronic and Optical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu, China · bThe 28th Research Institute of China Electronics Technology Group Corporation, Nanjing, 210007, Jiangsu, China · cCollege of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, Jiangsu, China +2

  13. MonoPRIO: Adaptive Prior Conditioning for Unified Monocular 3D Object Detection

    May 14, 2026Leon Davies, Qinggang Meng, Mohamad Saada +23D Object DetectionMonocular 3D Object Detection

    Department of Computer Science, Loughborough University, Epinal Way, Loughborough, LE11 3TU, Leicestershire, United Kingdom · European Center for Risk & Resilience Studies, University of Southern Denmark, Degnevej 14, Esbjerg, 6705, Denmark

  14. Towards Accurate Single Panoramic 3D Detection: A Semantic Gaussian Centric Approach

    May 14, 2026Kanglin Ning, Yiran Zhao, Wenrui Li +33D Gaussian Splatting3D Object Detection

    Harbin Institute of Technology · The Suzhou Research Institute of HIT · The PengChengLab

  15. SToRe3D: Sparse Token Relevance in ViTs for Efficient Multi-View 3D Object Detection

    May 13, 2026Sandro Papais, Lezhou Feng, Charles Cossette +1Multi-View 3D Object DetectionToken Pruning

    University of Toronto · Zoox Inc.

  16. Generative Texture Diversification of 3D Pedestrians for Robust Autonomous Driving Perception

    May 13, 2026Arka Bhowmick, Enes Ozeren, Ahmed Abdullah +13D Asset GenerationSynthetic Data Generation

    1BIT Technology Solutions GmbH, Germany · 2Mannheim University of Applied Sciences, Germany

  17. TriBand-BEV: Real-Time LiDAR-Only 3D Pedestrian Detection via Height-Aware BEV and High-Resolution Feature Fusion

    May 12, 2026Mohammad Khoshkdahan, Alexey VinelLidar-Based 3D Object DetectionBird's-Eye-View Representation

    Karlsruhe Institute of Technology · Karlsruhe, Germany

  18. SB-BEVFusion: Enhancing the Robustness against Sensor Malfunction and Corruptions

    May 12, 2026Markus Essl, Marta Moscati, Mubashir Noman +4Multimodal RobustnessCamera-LiDAR Fusion

    Johannes Kepler University Linz, Austria · MBZUAI, UAE · Macquarie University, Sydney, Australia +1

  19. Think as Needed: Geometry-Driven Adaptive Perception for Autonomous Driving

    May 11, 2026Donghyun Kim, Jaehyoung ParkAdaptive InferenceLidar-Based 3D Object Detection

    Stony Brook University

  20. MUSDA: Multi-source Multi-modality Unsupervised Domain Adaptive 3D Object Detection for Autonomous Driving

    May 11, 2026Xiaohu Lu, Hamed Khatounabadi, Hayder RadhaMulti-Source Domain AdaptationUnsupervised Domain Adaptation

    Electrical and Computer Engineering Michigan State University East Lansing, USA

  21. Hyperbolic Distillation: Geometry-Guided Cross-Modal Transfer for Robust 3D Object Detection

    May 11, 2026Kanglin Ning, Wenrui Li, Houde Quan +3Cross-Modal Knowledge Distillation3D Object Detection

    Faculty of Computing, Harbin Institute of Technology, Harbin 150001, China · Suzhou Research Institute of HIT

  22. Query2Uncertainty: Robust Uncertainty Quantification and Calibration for 3D Object Detection under Distribution Shift

    May 6, 2026Till Beemelmanns, Alexey Nekrasov, Stefan Vilceanu +4Distribution Shift3D Object Detection

    Institute for Automotive Engineering, RWTH Aachen · Computer Vision Institute, RWTH Aachen

  23. SimPB++: Simultaneously Detecting 2D and 3D Objects from Multiple Cameras

    May 3, 2026Yingqi Tang, Zhaotie Meng, Erkang Cheng +1Autonomous Driving PerceptionMulti-View 3D Object Detection

    Nullmax · Westlake University

  24. AFFormer: Adaptive Feature Fusion Transformer for V2X Cooperative Perception under Channel Impairments

    May 3, 2026Xi Zhou, Tao Huang, Qing-Long Han +23D Object DetectionV2X Communication

    College of Science and Engineering, James Cook University, Smithfield, QLD 4878, Australia · School of Engineering, Swinburne University of Technology, Melbourne, VIC 3122, Australia · Transport for NSW, Sydney, NSW, Australia

  25. Robust Fusion of Object-Level V2X for Learned 3D Object Detection

    May 1, 2026Lukas Ostendorf, Lennart Reiher, Onn Haran +13D Object DetectionCooperative Perception

    Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany · Qualcomm Technologies, Inc., Kfar-Netter, Israel

  26. SWAN: World-Aware Adaptive Multimodal Networks for Runtime Variations

    Apr 28, 2026Jason Wu, Shir-Kang Scott Jin, Yuyang Yuan +4Efficient Multimodal InferenceDynamic Neural Networks

    University of California, Los Angeles · University of California, Riverside · U.S. Army DEVCOM Army Research Laboratory

  27. Control Your Queries: Heterogeneous Query Interaction for Camera-Radar Fusion

    Apr 28, 2026Jialong Wu, Yihan Wang, Matthias RottmannCamera-Radar FusionAutonomous Driving Perception

    1Osnabrück University · 3Aptiv Services Deutschland GmbH · University of Wuppertal

  28. Leveraging Previous-Traversal Point Cloud Map Priors for Camera-Based 3D Object Detection and Tracking

    Apr 28, 2026Markus Käppeler, Özgün Çiçek, Yakov Miron +1Autonomous Driving Perception3D Object Detection

    Department of Computer Science, University of Freiburg, Germany. · Bosch Research, Robert Bosch GmbH, Renningen, Germany. · University of Haifa, Israel

  29. BifDet: A 3D Bifurcation Detection Dataset for Airway-Tree Modeling

    Apr 27, 2026Ali Keshavarzi, Quentin Bouniot, Benjamin M. Smith +13D Object DetectionMedical Image Benchmarks

    LTCI, Telecom Paris, Insitut Polytechnique de Paris, Palaiseau, France · Department of Medicine, Columbia University, New York, USA

  30. WildLIFT: Lifting monocular drone video to 3D for species-agnostic wildlife monitoring

    Apr 27, 2026Vandita Shukla, Fabio Remondino, Blair Costelloe +13D Object DetectionDrone-Based Wildlife Monitoring

    13D Optical Metrology, Fondazione Bruno Kessler, Trento, Italy. · Computer Vision and Machine Learning Systems Group, University of Muenster, Muenster, Germany. · Department of Collective Behaviour, Max Planck Institute of Animal Behaviour, Konstanz, Germany. +2