Chinese Journal of Intelligent Science and Technology ›› 2023, Vol. 5 ›› Issue (1): 7-31.doi: 10.11959/j.issn.2096-6652.202312

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A survey of 3D object detection algorithms

Zhe HUANG1, Yongcai WANG1,2, Deying LI1   

  1. 1 School of Information, Renmin University of China,Beijing 100872, China
    2 Key Laboratory of Police Internet of Things Application Ministry of Public Security, Beijing 100048, China
  • Revised:2023-03-01 Online:2023-03-15 Published:2023-03-01
  • Supported by:
    The National Natural Science Foundation of China(61972404);The National Natural Science Foundation of China(12071478);The National Natural Science Foundation of China(61732006)


3D object detection is a fundamental problem in autonomous driving,virtual reality,robotics,and other applications.Its goal is to extract the most accurate 3D box characterizing interested targets from the disordered point clouds,such as the closest 3D box surrounding the pedestrians or vehicles.The target 3D box's location,size,and orientation are also output.Currently,there are two primary approaches for 3D object detection: (1) pure point cloud based 3D object detection,in which the point clouds are created by binocular vision,RGB-D camera,and lidar; (2) fusion-based 3D object detection based on the fusion of image and point cloud.The various representations of 3D point clouds were introduced.Then representative methods were introduced from three aspects: traditional machine learning techniques; non-fusion deep learning based algorithms; and multimodal fusion-based deep learning algorithms in progressive relation.The algorithms within and across each category were examined and compared,and the differences and connections between the various methods were analyzed thoroughly.Finally,remaining challenges of 3D object detection were discussed and explored.And the primary datasets and metrics used in 3D object detection studies were summarized.

Key words: deep learning, 3D object detection, multimodal fusion, point cloud, autonomous driving

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