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Papers › FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection

FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection

1 Dec 2021arXiv:2112.00322archive 2025-07-28

Danila Rukhovich, Anna Vorontsova, Anton Konushin

Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D object detection method. It is a simple yet effective method that uses a voxel representation of a point cloud and processes voxels with sparse convolutions. FCAF3D can handle large-scale scenes with minimal runtime through a single fully convolutional feed-forward pass. Existing 3D object detection methods make prior assumptions on the geometry of objects, and we argue that it limits their generalization ability. To get rid of any prior assumptions, we propose a novel parametrization of oriented bounding boxes that allows obtaining better results in a purely data-driven way. The proposed method achieves state-of-the-art 3D object detection results in terms of mAP@0.5 on ScanNet V2 (+4.5), SUN RGB-D (+3.5), and S3DIS (+20.5) datasets. The code and models are available at https://github.com/samsunglabs/fcaf3d.

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Code

open-mmlab/mmdetection3d officialmentioned in papermentioned on GitHubpytorchApache-2.0 report
bosszhe/vimi mentioned on GitHubpytorchApache-2.0 report

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Tasks

3D Object DetectionObjectObject Detectionobject-detection

Results from the paper archive 2025-07-28

TaskDatasetModelMetricValueRank at snapshotLeaderboardReport
3D Object Detection 3RScan FCAF3D mAP@0.25 60.1 #3 of 3 Archive leaderboard report
3D Object Detection 3RScan FCAF3D mAP@0.5 42.6 #3 of 3 Archive leaderboard report
3D Object Detection MultiScan FCAF3D mAP@0.25 53.8 #3 of 3 Archive leaderboard report
3D Object Detection MultiScan FCAF3D mAP@0.5 40.7 #3 of 3 Archive leaderboard report
3D Object Detection S3DIS FCAF3D mAP@0.25 66.7 #6 of 7 Archive leaderboard report
3D Object Detection S3DIS FCAF3D mAP@0.5 45.9 #6 of 7 Archive leaderboard report
3D Object Detection SUN-RGBD val FCAF3D (Geo only) mAP@0.25 64.2 #14 of 32 Archive leaderboard report
3D Object Detection SUN-RGBD val FCAF3D (Geo only) mAP@0.5 48.9 #14 of 32 Archive leaderboard report
3D Object Detection ScanNet++ FCAF3D mAP@0.25 22.3 #3 of 3 Archive leaderboard report
3D Object Detection ScanNet++ FCAF3D mAP@0.5 11.4 #3 of 3 Archive leaderboard report
3D Object Detection ScanNetV2 FCAF3D mAP@0.25 71.5 #16 of 33 Archive leaderboard report
3D Object Detection ScanNetV2 FCAF3D mAP@0.5 57.3 #16 of 33 Archive leaderboard report

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.

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