{"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/conquer-query-contrast-voxel-detr-for-3d","title":"ConQueR: Query Contrast Voxel-DETR for 3D Object Detection","arxiv_id":"2212.07289","date":"2022-12-14","proceeding":"CVPR 2023 1","authors":["Benjin Zhu","Zhe Wang","Shaoshuai Shi","Hang Xu","Lanqing Hong","Hongsheng Li"],"abstract":"Although DETR-based 3D detectors can simplify the detection pipeline and achieve direct sparse predictions, their performance still lags behind dense detectors with post-processing for 3D object detection from point clouds. DETRs usually adopt a larger number of queries than GTs (e.g., 300 queries v.s. 40 objects in Waymo) in a scene, which inevitably incur many false positives during inference. In this paper, we propose a simple yet effective sparse 3D detector, named Query Contrast Voxel-DETR (ConQueR), to eliminate the challenging false positives, and achieve more accurate and sparser predictions. We observe that most false positives are highly overlapping in local regions, caused by the lack of explicit supervision to discriminate locally similar queries. We thus propose a Query Contrast mechanism to explicitly enhance queries towards their best-matched GTs over all unmatched query predictions. This is achieved by the construction of positive and negative GT-query pairs for each GT, and a contrastive loss to enhance positive GT-query pairs against negative ones based on feature similarities. ConQueR closes the gap of sparse and dense 3D detectors, and reduces up to ~60% false positives. Our single-frame ConQueR achieves new state-of-the-art (sota) 71.6 mAPH/L2 on the challenging Waymo Open Dataset validation set, outperforming previous sota methods (e.g., PV-RCNN++) by over 2.0 mAPH/L2.","url_abs":"https://arxiv.org/abs/2212.07289v1","url_pdf":"https://arxiv.org/pdf/2212.07289v1.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":"conquer-query-contrast-voxel-detr-for-3d","repo_url":"https://github.com/poodarchu/ConQueR","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[{"method_slug":"gts","method_name":"GTS"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2212.07289","atlas_url":"https://app.syntology.ai/?focus=2212.07289","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2212.07289"}},"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/poodarchu/ConQueR","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"ran":2,"unverified":6},"by_repo_kind":{"official":{"samples":8,"ran":2,"repositories":1}},"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":"e8526a516b4f9206","entry":"convert_basic_c2_names","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/utils/d2_model_loading.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/utils/d2_model_loading.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"e8526a516b4f9206"}},{"code_sha256_prefix":"5f4e8136399d27e8","entry":"limit_period","repo":"poodarchu/ConQueR","repo_kind":"official","path":"datasets/utils/waymo_eval.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/datasets/utils/waymo_eval.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"5f4e8136399d27e8"}},{"code_sha256_prefix":"4552d09aa9f10a7e","entry":"align_and_update_state_dicts","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/utils/d2_model_loading.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/utils/d2_model_loading.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"4552d09aa9f10a7e"}},{"code_sha256_prefix":"434052a707c12e64","entry":"clip_grad_norm","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/engine/hooks.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/engine/hooks.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"434052a707c12e64"}},{"code_sha256_prefix":"d65a6f9947376276","entry":"convert_c2_detectron_names","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/utils/d2_model_loading.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/utils/d2_model_loading.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"d65a6f9947376276"}},{"code_sha256_prefix":"0f46d9d680073a35","entry":"get_kw_to_default_map","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/modeling/utils.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/modeling/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"0f46d9d680073a35"}},{"code_sha256_prefix":"a1e7892e17d509f0","entry":"get_pos_to_kw_map","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/modeling/utils.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/modeling/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"a1e7892e17d509f0"}},{"code_sha256_prefix":"f1dcdd191e058d41","entry":"get_printer","repo":"poodarchu/ConQueR","repo_kind":"official","path":"efg/modeling/utils.py","file_url":"https://github.com/poodarchu/ConQueR/blob/HEAD/efg/modeling/utils.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"f1dcdd191e058d41"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}