Lidar-Based 3D Object Detection

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Overview

Lidar-based 3D object detection turns sparse, irregular point clouds into 3D bounding boxes and class labels, helping mobile systems understand nearby objects and their positions. Common approaches organize points as voxels or pillars, process them directly or in bird’s-eye-view grids, and use convolutional networks, transformers, or newer sequence models; some combine lidar with cameras, radar, or cooperative vehicle data. Current work also addresses long-range and rare-object detection, low-latency inference, adaptation across sensors and environments, and robustness to weather, corruption, and adversarial point changes. A central tension is improving accuracy under sparse or shifted data while keeping computation, sensing, and communication within practical limits.

Latest papers

CardsList

54 papers5 papers in the last four weeks, down 29% on the four weeks before. 0.0% of all new papers.

  1. Understanding and Repairing Cooperative Perception under Adverse Weather

    Oct 26, 2026Mengxu MaCooperative Perception3D Object Detection

    Northwestern Polytechnical University

  2. Uncertainty Evaluation to Support Safety of the Intended Functionality Analysis for Determining the Applicability of Performance Targets Across Triggering Conditions in ML-Based LiDAR Object Detection

    Oct 26, 2026Milin Patel, Rolf JungUncertainty QuantificationDistribution Shift

    Institute for Driver Assistance and Connected Mobility, Kempten University of Applied Sciences, Benningen, Germany · Faculty of Computer Science, Kempten University of Applied Sciences, Kempten, Germany

  3. Provisioning Robust and Efficient LiDAR Perception for Autonomous Driving

    Oct 20, 2026Tingxu Han, Zijie Shen, An Guo +4Lidar-Based 3D Object DetectionAutonomous Driving Perception

    State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing 210093, China. · Department of Computing, Hong Kong Polytechnic University, Hong Kong SAR, China · School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China +1

  4. Beyond the Snowflakes: Disentangling Weather Effects from Confounding Meta-Factors in LiDAR Object Detection

    Oct 9, 2026Yiming Yang, Jeremy P. BosLidar-Based 3D Object DetectionAutonomous Driving Perception

  5. IndoorBEV: A Lightweight Real-Time LiDAR BEV Perception System for Indoor Mobile Robots

    Sep 30, 2026Haichuan LiRobotic PerceptionBird's-Eye-View Representation

    University of Turku

  6. GA-EIRFS: A Geometry-Augmented Repeat-Factor Sampling Method for Long-Tailed LiDAR 3D Object Detection

    Sep 29, 2026Taufiq Ahmed, Constantino Álvarez Casado, Daniel Herrera Castro +3Lidar-Based 3D Object Detection3D Object Detection

    Center for Machine Vision and Signal Analysis (CMVS), University of Oulu, Finland · University of Jyväskylä, Jyväskylä, Finland

  7. Repair Before You Fuse: Frozen-Host Adaptation for Corrupted-but-Present Sensors

    Sep 28, 2026Gia-Huy Thai, Quang-Thinh Ly, Anh-Minh Phan +1Lidar-Based 3D Object DetectionMultimodal Robustness

    University of Science, VNU-HCM, Ho Chi Minh City 700000, Vietnam · Michigan State University, East Lansing, MI 48824, USA · Center for Environmental Intelligence, VinUniversity, Hanoi 100000, Vietnam +1

  8. AevaScenes: An FMCW LiDAR Dataset and Benchmark for Long-Range Perception

    Sep 27, 2026Gautham Narayan Narasimhan, Heethesh Vhavle, Kumar Bhargav Viswanatha +2Scene Flow EstimationLidar-Based 3D Object Detection

    Aeva Inc., Mountain View, CA, USA. · Carnegie Mellon University, Pittsburgh, PA, USA.

  9. Open-vocabulary 3D object detection with promptable segmentation

    Sep 16, 2026Ömer Faruk Deniz, Mustafa Taha KoçyiğitLidar-Based 3D Object DetectionMulti-View 3D Object Detection

    Institute of Data Science and Artificial Intelligence, Boğaziçi University, South Campus, Bebek, 34342, Istanbul, Türkiye

  10. Lightweight LiDAR-Based Cone Detection Framework Using Random Forest for Formula Student Driverless

    Sep 10, 2026Márk Mező-Kerekes, Péter Praksz, Chang LiuLidar-Based 3D Object DetectionAutonomous Driving Perception

    Department of Networked Systems and Services, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, Műegyetem rkp. 3, H-1111 Budapest, Hungary · Machine Perception Research Laboratory, HUN-REN Institute for Computer Science and Control (SZTAKI), Kende u. 13–17, H-1111 Budapest, Hungary

  11. Solution for UCF UrbanTwin V2X-Real Track: Sim-to-Real Urban LiDAR 3D Object Detection

    Sep 7, 2026Pu Luo, Cong Xu, Yumei Li +4Synthetic-to-Real Domain AdaptationLidar-Based 3D Object Detection

    Xidian University, Xi’an, China

  12. Solution for UCF UrbanTwin LUMPI Track: Sim-to-Real Urban LiDAR 3D Object Detection

    Sep 7, 2026Pu Luo, Cong Xu, Yumei Li +4Synthetic-to-Real Domain AdaptationLidar-Based 3D Object Detection

    Xidian University, Xi’an, China

  13. SimFuse3D: Source-Guided Target Simulation and Confidence-Guided Multi-Stage Localization Reweighting for Cross-Platform 3D Object Detection

    Sep 4, 2026Yongchun Lin, Xinliang Zhang, Yun Zou +7Unsupervised Domain AdaptationLidar-Based 3D Object Detection

    Guangdong University of Technology · SenseTime · The Hong Kong University of Science and Technology (Guangzhou)

  14. KSG-Net: Key-Sparse and Global-Context Learning for Maritime 3D Ship Detection

    Sep 2, 2026Zhouyuan Huai, Meiqi Wan, Yan Yang +4Lidar-Based 3D Object DetectionMulti-Scale Feature Fusion

    School of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430065, China · State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · China University of Chinese Academy of Sciences, Beijing 100049, China +1

  15. CARE: Camera-Residual Reserves for First Sightings in Adaptive LiDAR Sensing

    Aug 25, 2026Jiachen Gong, Yun Li, Ehsan Javanmardi +2Adaptive SensingAutonomous Driving

    The University of Tokyo, Tokyo, Japan · National Institute of Informatics, Tokyo, Japan

  16. GhostPoint: Self-Supervised Representation Learning by Hallucinating Occluded LiDAR Structure

    Aug 14, 2026Mohamed Abdelsamad, Bin Yang, Michael Ulrich +4Self-Supervised Point Cloud LearningLidar-Based 3D Object Detection

    Bosch Center for AI · University of Freiburg · University of Luebeck

  17. Lightweight 3D Object Detection via Mamba-Based Knowledge Distillation

    Aug 4, 2026Quoc Cuong Ninh, Huy Xuan Pham, Anh Tung Nguyen +1Lidar-Based 3D Object Detection3D Object Detection

    Viettel AI, Viettel Group, Vietnam · Artificial Intelligence in Robotics Laboratory (AiR Lab), Department of Electrical and Computer Engineering, Aarhus University, 8000 Aarhus C, Denmark · VIST, Viettel Group, Vietnam

  18. ViCo3D: Empowering LiDAR-based Collaborative 3D Object Detection with Vision Foundation Models

    Jul 14, 2026Haojie Ren, Songrui Luo, Lingfeng Wang +6Lidar-Based 3D Object DetectionVision Foundation Models

    University of Science and Technology of China

  19. DeGuNet: Depth-Guided Ultra-Compact Backbones for Efficient LiDAR-Camera 3D Detection

    Jul 14, 2026Haifa Zhang, Yijing Wang, Peixi Peng +1Efficient Neural Network InferenceRepresentation Learning

    Tianjin University, Tianjin, China · Peking University, Beijing, China

  20. On Exploring Input Resolution Scaling For Anytime LiDAR Object Detection

    Jul 9, 2026Ahmet Soyyigit, Shuochao Yao, Heechul YunAdaptive InferenceLidar-Based 3D Object Detection

    The National Defense University, Istanbul, Turkiye · George Mason University, Fairfax, VA, USA · The University of Kansas, Lawrence, KS, USA

  21. Dynamic Object Detection and Tracking in Construction: A Fisheye Camera and LiDAR Sensor Fusion Model

    Jul 8, 2026Yilong Chen, Huili Huang, Yong K. ChoRobotic ConstructionLidar-Based 3D Object Detection

    Georgia Institute of Technology, Atlanta, GA 30332, USA

  22. RAF: Reliability-Aware Fusion of Camera, LiDAR, and 4D RADAR for Robust 3D Object Detection in Adverse Weather

    Jul 6, 2026Heejun Park, Jaeseok Jeong, Kuk-Jin YoonCamera-Radar FusionLidar-Based 3D Object Detection

    Visual Intelligence Lab., KAIST

  23. Comprehensive Robustness Analysis of LiDAR-based 3D Object Detection in Autonomous Driving

    Jul 2, 2026Adwait Chandorkar, Kai Krink, Yerdana Maulenbay +2Lidar-Based 3D Object DetectionAdversarial Robustness

    Institute for TMDT, University of Wuppertal, Germany · IKB Faculty of Science, University of British Columbia, Canada

  24. Open-Weather Robust 3D Detection via Dual-Critic Diffusion Alignment

    Jul 2, 2026Shuyao Li, Chuanxing Geng, Heyang Sun +2Lidar-Based 3D Object DetectionDomain Generalization

    Nanjing University of Aeronautics and Astronautics, Nanjing, China · MIIT Key Laboratory of Pattern Analysis and Machine Intelligence, Nanjing, China

  25. C2E: Boosting Ego-Only 3D Object Detection via Multi-Teacher Contrastive Knowledge Distillation

    Jul 2, 2026Jinlong Wang, Xun Huang, Qiming Xia +2Lidar-Based 3D Object Detection3D Object Detection

    Fujian Key Laboratory of Urban Intelligent Sensing and Computing, Xiamen University, China · Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China · Zhongguancun Academy, China

  26. Explainability-Aware Frustum Attack: Exposing Structural Vulnerabilities in LiDAR-Based 3D Object Detectors

    Jun 29, 2026Chengzeng You, Binbin Xu, Soteris DemetriouFeature AttributionLidar-Based 3D Object Detection

    Imperial College London, UK · Now at Google.

  27. Auto-Labelling-Based Domain Transfer for 3D Object Detection on a Bicycle-Mounted LiDAR Platform

    Jun 24, 2026Mario Finkbeiner, Max A. Buettner, Kanak Mazumder +1Autonomous Driving DatasetsLidar-Based 3D Object Detection

    Intelligent Vehicles Lab (IVL), Munich University of Applied Sciences, Munich, Germany

  28. Mirage: a Clean-Label Backdoor against LiDAR 3D Object Detection

    Jun 18, 2026Ziba Parsons, Ang LiLidar-Based 3D Object DetectionBackdoor Attacks

    Computer and Information Science University of Michigan - Dearborn Dearborn, MI 48170

  29. Camera and LiDAR BEV Fusion for Cooperative 3D Object Detection on TUMTraf V2X

    Jun 11, 2026Muhammad Shahbaz, Shaurya AgarwalLidar-Based 3D Object DetectionCamera-LiDAR Fusion

    Department of Civil, Environmental and Construction Engineering · University of Central Florida

  30. ATN3D: Density-Aware LiDAR-Radar Early 3D Object Detection Under Extreme Sparsity

    Jun 8, 2026Debojyoti Biswas, Xianbiao HuLidar-Based 3D Object DetectionAutonomous Driving Perception