BSH-Det3D: Improving 3D Object Detection with BEV Shape Heatmap

You Shen, Yunzhou Zhang, Yanmin Wu, Zhenyu Wang, Linghao Yang, Sonya Coleman, Dermot Kerr

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driv- ing and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant areas, which creates a fundamental challenge to 3D perception. Existing methods estimate specific 3D shapes and achieve remarkable performance. However, these methods rely on extensive computation and memory, causing imbalances between accuracy and real-time performance. To tackle this challenge, we propose a novel LiDAR-based 3D object detection model named BSH-Det3D, which applies an effective way to enhance spatial features by estimating complete shapes from a bird’s eye view (BEV). Specifically, we design the Pillar-based Shape Completion (PSC) module to predict the probability of occupancy whether a pillar contains object shapes. The PSC module generates a BEV shape heatmap for each scene. After integrating with heatmaps, BSH-Det3D can provide additional information in shape deterioration areas and generate high- quality 3D proposals. We also design an attention-based densi- fication fusion module (ADF) to adaptively associate the sparse features with heatmaps and raw points. The ADF module integrates the advantages of points and shapes knowledge with negligible overheads. Extensive experiments on the KITTI benchmark achieve state-of-the-art (SOTA) performance in terms of accuracy and speed, demonstrating the efficiency and flexibility of BSH-Det3D
Original languageEnglish
Title of host publicationInternational Conference on Intelligent Robotics and Systems 2023
Subtitle of host publicationIROS 2023
Number of pages9
Publication statusAccepted/In press - 21 Jun 2023
EventInternational Conference on Intelligent Robots and Systems 2023 - Huntingdon Place, Detroit, United States
Duration: 1 Oct 20235 Oct 2023


ConferenceInternational Conference on Intelligent Robots and Systems 2023
Abbreviated titleIROS 2023
Country/TerritoryUnited States
Internet address


  • 3D Object detection
  • Heatmap
  • Deep learning


Dive into the research topics of 'BSH-Det3D: Improving 3D Object Detection with BEV Shape Heatmap'. Together they form a unique fingerprint.

Cite this