Papers › Center-based 3D Object Detection and Tracking
Center-based 3D Object Detection and Tracking
Tianwei Yin, Xingyi Zhou, Philipp Krähenbühl
Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any particular orientation, and box-based detectors have difficulties enumerating all orientations or fitting an axis-aligned bounding box to rotated objects. In this paper, we instead propose to represent, detect, and track 3D objects as points. Our framework, CenterPoint, first detects centers of objects using a keypoint detector and regresses to other attributes, including 3D size, 3D orientation, and velocity. In a second stage, it refines these estimates using additional point features on the object. In CenterPoint, 3D object tracking simplifies to greedy closest-point matching. The resulting detection and tracking algorithm is simple, efficient, and effective. CenterPoint achieved state-of-the-art performance on the nuScenes benchmark for both 3D detection and tracking, with 65.5 NDS and 63.8 AMOTA for a single model. On the Waymo Open Dataset, CenterPoint outperforms all previous single model method by a large margin and ranks first among all Lidar-only submissions. The code and pretrained models are available at https://github.com/tianweiy/CenterPoint.
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
For agents, Syntology's MCP tool lists every function and class Syntology harvested from this paper and whether it ran (how to connect): get_harvested_code_for_paper(arxiv_id="2006.11275")
Code
Syntology Ran 7 of 22 code samples harvested from 3 repositories linked to this paper; 15 have no recorded run. Of those that ran: 1 ran · our draft was wrong; 2 ran · fixture could not drive it; 4 ran with no contract checked.
By repository: community (archive-listed): 22 samples from 3 repositories, 7 ran. The run record, sample by sample. “Ran” means executed on a synthesized input, not that the code is correct or reproduces the paper.
13 repositories listed; official and paper-mentioned ones first.
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
22 samples harvested; 7 ran; 0 honoured the contract we drafted; 15 have no recorded run. Read from Syntology's graph 2026-09-24; that is when this build read the record, not when the samples ran.
Licence: 0 of the 22 samples are pointer only, meaning Syntology does not serve that copy's text. This page shows no code text for any sample; each one links to its file in the repository.
Harvested from 3 repositories linked to this paper, official or community; each sample names its own and says which. “Ran” means the sample executed on a synthesized input. It does not mean the output is correct, and nothing here reproduces the paper's results. “Honoured” and “violated” refer to a contract Syntology drafted from the code itself; “our draft was wrong” and “fixture could not drive it” are failures of Syntology's instrument, not of the code.
Each sample ends with its code_sha256, Syntology's identity for that exact code. An agent fetches the stored sample with Syntology's MCP tool get_code(code_sha256="…") (how to connect); click an identity to copy that call.
Repository labels, per sample. official repository: The archive marks this repository official for the paper. named in the paper: The archive records that the paper mentions this repository; it is not marked official. community (archive-listed): In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper. found in paper text by Syntology: 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. Samples from a repository marked official are listed first. Licence labels name the repository's licence as recorded at harvest. “Pointer only” means Syntology does not serve that copy's text, for one of four reasons: no licence file was found; the licence was not identified; the licence is recorded as permissive but that copy's record is not marked cleared; or the licence is outside the permissive list Syntology serves text under (MIT, Apache-2.0, BSD and similar). Some licences outside that list permit redistribution, such as WTFPL, and GPL-3.0 under its conditions; they are simply not on the list. Hover a licence label for the reason. File links open the file on GitHub at the default branch, which may have changed since the harvest.
5c4bac81583c34e1 · report
68d59bd1b88d6e20 · report
20fbfa2279e1ce4b · report
ea036153b550642a · report
3415a0d1c950c1c7 · report
b17bee95672f577a · report
df17a2b345c6cccd · report
696fe155f9990d38 · report
2910537cc2d708f3 · report
71c86b456fb1f8d8 · report
da4199bc7189c53d · report
ebd8a3fc2a270133 · report
1780d388cc532a6d · report
c8b847449b3be5dc · report
f027b5ae160547ce · report
4ebc0d049adc6eac · report
363a2d53034b488a · report
392c0cf3a1b07b12 · report
77ab54971d45f552 · report
0215535ccf00014e · report
d9f32b1e24612346 · report
fcb93febe125336c · report
Tasks
Results from the paper archive 2025-07-28
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections