Year: 2026
Type: article
Abstract: High-precision 3D object detection is pivotal for autonomous driving. However, voxel-based two-stage detectors still struggle with small and non-rigid objects due to the misalignment between classification confidence and localization accuracy, and the loss of fine-grained spatial context during feature flattening. To address these issues, we propose the Varifocal Fine-grained Refinement Network (VFR-Net). We introduce Varifocal Loss (VFL) to learn IoU-aware scores for prioritizing high-quality proposals, and a Fine-Grained Refinement Attention (FGRA) Module to capture local geometric details via self-attention before flattening. Extensive experiments on the KITTI and ONCE datasets demonstrate that VFR-Net consistently outperforms the Voxel R-CNN baseline, improving the overall mAP by +1.12% on KITTI and +2.63% on ONCE. Specifically, it achieves AP gains of +1.81% and +1.28% for pedestrians and cyclists on KITTI (averaged over Easy/Moderate/Hard), and +6.53% and +1.50% on ONCE (Overall).
Source: Applied Sciences
DOI: 10.3390/app16020911
Institutions: Ritsumeikan University, Toyama Prefectural University
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Funder: Mazda Foundation
OpenAlex ID: W7124279753