{"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/pixor-real-time-3d-object-detection-from","title":"PIXOR: Real-time 3D Object Detection from Point Clouds","arxiv_id":"1902.06326","date":"2019-02-17","proceeding":"CVPR 2018 6","authors":["Bin Yang","Wenjie Luo","Raquel Urtasun"],"abstract":"We address the problem of real-time 3D object detection from point clouds in\nthe context of autonomous driving. Computation speed is critical as detection\nis a necessary component for safety. Existing approaches are, however,\nexpensive in computation due to high dimensionality of point clouds. We utilize\nthe 3D data more efficiently by representing the scene from the Bird's Eye View\n(BEV), and propose PIXOR, a proposal-free, single-stage detector that outputs\noriented 3D object estimates decoded from pixel-wise neural network\npredictions. The input representation, network architecture, and model\noptimization are especially designed to balance high accuracy and real-time\nefficiency. We validate PIXOR on two datasets: the KITTI BEV object detection\nbenchmark, and a large-scale 3D vehicle detection benchmark. In both datasets\nwe show that the proposed detector surpasses other state-of-the-art methods\nnotably in terms of Average Precision (AP), while still runs at >28 FPS.","url_abs":"http://arxiv.org/abs/1902.06326v3","url_pdf":"http://arxiv.org/pdf/1902.06326v3.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":"pixor-real-time-3d-object-detection-from","repo_url":"https://github.com/DerrickXuNu/OpenCOOD","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"pixor-real-time-3d-object-detection-from","repo_url":"https://github.com/mileyan/pseudo-LiDAR_e2e","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"birds-eye-view-object-detection","task_name":"Birds Eye View Object Detection"},{"task_slug":"model-optimization","task_name":"Model Optimization"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"},{"task_slug":"vehicle-detection","task_name":"vehicle detection"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/birds-eye-view-object-detection-on-kitti-cars-4","task":"Birds Eye View Object Detection","dataset":"KITTI Cars Easy","model":"PIXOR","rank_in_archive_order":9,"of":9,"metrics":{"AP":"81.7%"},"uses_additional_data":false},{"leaderboard":"/sota/birds-eye-view-object-detection-on-kitti-cars-5","task":"Birds Eye View Object Detection","dataset":"KITTI Cars Hard","model":"PIXOR","rank_in_archive_order":8,"of":8,"metrics":{"AP":"72.95"},"uses_additional_data":false},{"leaderboard":"/sota/birds-eye-view-object-detection-on-kitti-cars","task":"Birds Eye View Object Detection","dataset":"KITTI Cars Moderate","model":"PIXOR","rank_in_archive_order":9,"of":9,"metrics":{"AP":"77.05%"},"uses_additional_data":false},{"leaderboard":"/sota/birds-eye-view-object-detection-on-kitti-cars-2","task":"Birds Eye View Object Detection","dataset":"KITTI Cars Moderate val","model":"PIXOR","rank_in_archive_order":2,"of":3,"metrics":{"AP":"80.75"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1902.06326","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1902.06326"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+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. 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