3DPillars: Pillar-based two-stage 3D object detection
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912574672470016 |
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| author | Noh, Jongyoun Lee, Junghyup Park, Hyekang Ham, Bumsub |
| author_facet | Noh, Jongyoun Lee, Junghyup Park, Hyekang Ham, Bumsub |
| contents | PointPillars is the fastest 3D object detector that exploits pseudo image representations to encode features for 3D objects in a scene. Albeit efficient, PointPillars is typically outperformed by state-of-the-art 3D detection methods due to the following limitations: 1) The pseudo image representations fail to preserve precise 3D structures, and 2) they make it difficult to adopt a two-stage detection pipeline using 3D object proposals that typically shows better performance than a single-stage approach. We introduce in this paper the first two-stage 3D detection framework exploiting pseudo image representations, narrowing the performance gaps between PointPillars and state-of-the-art methods, while retaining its efficiency. Our framework consists of two novel components that overcome the aforementioned limitations of PointPillars: First, we introduce a new CNN architecture, dubbed 3DPillars, that enables learning 3D voxel-based features from the pseudo image representation efficiently using 2D convolutions. The basic idea behind 3DPillars is that 3D features from voxels can be viewed as a stack of pseudo images. To implement this idea, we propose a separable voxel feature module that extracts voxel-based features without using 3D convolutions. Second, we introduce an RoI head with a sparse scene context feature module that aggregates multi-scale features from 3DPillars to obtain a sparse scene feature. This enables adopting a two-stage pipeline effectively, and fully leveraging contextual information of a scene to refine 3D object proposals. Experimental results on the KITTI and Waymo Open datasets demonstrate the effectiveness and efficiency of our approach, achieving a good compromise in terms of speed and accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_05780 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | 3DPillars: Pillar-based two-stage 3D object detection Noh, Jongyoun Lee, Junghyup Park, Hyekang Ham, Bumsub Computer Vision and Pattern Recognition PointPillars is the fastest 3D object detector that exploits pseudo image representations to encode features for 3D objects in a scene. Albeit efficient, PointPillars is typically outperformed by state-of-the-art 3D detection methods due to the following limitations: 1) The pseudo image representations fail to preserve precise 3D structures, and 2) they make it difficult to adopt a two-stage detection pipeline using 3D object proposals that typically shows better performance than a single-stage approach. We introduce in this paper the first two-stage 3D detection framework exploiting pseudo image representations, narrowing the performance gaps between PointPillars and state-of-the-art methods, while retaining its efficiency. Our framework consists of two novel components that overcome the aforementioned limitations of PointPillars: First, we introduce a new CNN architecture, dubbed 3DPillars, that enables learning 3D voxel-based features from the pseudo image representation efficiently using 2D convolutions. The basic idea behind 3DPillars is that 3D features from voxels can be viewed as a stack of pseudo images. To implement this idea, we propose a separable voxel feature module that extracts voxel-based features without using 3D convolutions. Second, we introduce an RoI head with a sparse scene context feature module that aggregates multi-scale features from 3DPillars to obtain a sparse scene feature. This enables adopting a two-stage pipeline effectively, and fully leveraging contextual information of a scene to refine 3D object proposals. Experimental results on the KITTI and Waymo Open datasets demonstrate the effectiveness and efficiency of our approach, achieving a good compromise in terms of speed and accuracy. |
| title | 3DPillars: Pillar-based two-stage 3D object detection |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2509.05780 |