{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/afdet-anchor-free-one-stage-3d-object","title":"AFDet: Anchor Free One Stage 3D Object Detection","arxiv_id":"2006.12671","date":"2020-06-23","proceeding":null,"authors":["Runzhou Ge","Zhuangzhuang Ding","Yihan Hu","Yu Wang","Sijia Chen","Li Huang","Yuan Li"],"abstract":"High-efficiency point cloud 3D object detection operated on embedded systems is important for many robotics applications including autonomous driving. Most previous works try to solve it using anchor-based detection methods which come with two drawbacks: post-processing is relatively complex and computationally expensive; tuning anchor parameters is tricky. We are the first to address these drawbacks with an anchor free and Non-Maximum Suppression free one stage detector called AFDet. The entire AFDet can be processed efficiently on a CNN accelerator or a GPU with the simplified post-processing. Without bells and whistles, our proposed AFDet performs competitively with other one stage anchor-based methods on KITTI validation set and Waymo Open Dataset validation set.","url_abs":"https://arxiv.org/abs/2006.12671v2","url_pdf":"https://arxiv.org/pdf/2006.12671v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/15526837635/CenterPoint","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/CarkusL/CenterPoint","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/abhigoku10/CenterPoint_PC","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/chowkamlee81/CentrePointNet","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/mon95/centerpoint-maps","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/safetylab24/FusionCVCP","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"afdet-anchor-free-one-stage-3d-object","repo_url":"https://github.com/stevewongv/sparse2dense","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":null,"task_name":"GPU"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2006.12671","atlas_url":"https://app.syntology.ai/?focus=2006.12671","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2006.12671"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/abhigoku10/CenterPoint_PC","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/15526837635/CenterPoint","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/CarkusL/CenterPoint","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/safetylab24/FusionCVCP","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/stevewongv/sparse2dense","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/mon95/centerpoint-maps","reach":{"status":"ok","spdx":"MIT"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/chowkamlee81/CentrePointNet","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran":3,"unverified":1},"by_repo_kind":{"listed":{"samples":4,"ran":3,"repositories":2}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"68d8eb1ee0915c7d","entry":"children","repo":"safetylab24/FusionCVCP","repo_kind":"listed","path":"det3d/builder.py","file_url":"https://github.com/safetylab24/FusionCVCP/blob/HEAD/det3d/builder.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"68d8eb1ee0915c7d"}},{"code_sha256_prefix":"78f63746495b109f","entry":"make_dot","repo":"chowkamlee81/CentrePointNet","repo_kind":"listed","path":"det3d/visualization/netviz.py","file_url":"https://github.com/chowkamlee81/CentrePointNet/blob/HEAD/det3d/visualization/netviz.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"78f63746495b109f"}},{"code_sha256_prefix":"34a445a4ab172be6","entry":"replace","repo":"chowkamlee81/CentrePointNet","repo_kind":"listed","path":"det3d/visualization/netviz.py","file_url":"https://github.com/chowkamlee81/CentrePointNet/blob/HEAD/det3d/visualization/netviz.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"34a445a4ab172be6"}},{"code_sha256_prefix":"50ded6a49b80467e","entry":"parse","repo":"chowkamlee81/CentrePointNet","repo_kind":"listed","path":"det3d/visualization/netviz.py","file_url":"https://github.com/chowkamlee81/CentrePointNet/blob/HEAD/det3d/visualization/netviz.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"50ded6a49b80467e"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}