Papers › ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votes
ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votes
Charles R. Qi, Xinlei Chen, Or Litany, Leonidas J. Guibas
3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have inherent limitations. They are sparse, lack color information and often suffer from sensor noise. Images, on the other hand, have high resolution and rich texture. Thus they can complement the 3D geometry provided by point clouds. Yet how to effectively use image information to assist point cloud based detection is still an open question. In this work, we build on top of VoteNet and propose a 3D detection architecture called ImVoteNet specialized for RGB-D scenes. ImVoteNet is based on fusing 2D votes in images and 3D votes in point clouds. Compared to prior work on multi-modal detection, we explicitly extract both geometric and semantic features from the 2D images. We leverage camera parameters to lift these features to 3D. To improve the synergy of 2D-3D feature fusion, we also propose a multi-tower training scheme. We validate our model on the challenging SUN RGB-D dataset, advancing state-of-the-art results by 5.7 mAP. We also provide rich ablation studies to analyze the contribution of each design choice.
In Syntology View this paper on Syntology: its repositories, every harvested function with whether it ran, its licence and the call to fetch it.
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="2001.10692")
Code
Syntology Ran 1 of 1 code samples harvested from 1 repository linked to this paper; 0 have no recorded run. Of those that ran: 1 ran · our draft was wrong.
By repository: official repository: 1 sample from 1 repository, 1 ran. The run record, sample by sample. “Ran” means executed on a synthesized input, not that the code is correct or reproduces the paper.
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
1 sample harvested; 1 ran; 0 honoured the contract we drafted; 0 have no recorded run. Read from Syntology's graph 2026-09-25; that is when this build read the record, not when the samples ran.
Licence: 0 of the 1 sample 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 facebookresearch/imvotenet. “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.
847f37b80100244c · report
Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Object Detection | SUN-RGBD | ImVoteNet | mAP@0.25 | 63.4 | #3 of 8 | 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.
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