# Structure Aware and Class Balanced 3D Object Detection on nuScenes Dataset Source: [Structure Aware and Class Balanced 3D Object Detection on nuScenes Dataset]() Collection index: [llms.txt]() Data updated: 2025-10-26T00:38:22.399Z Authors: Sushruth Nagesh, Asfiya Baig, Savitha Srinivasan, Akshay Rangesh, Mohan Trivedi Published: 2022-05-25T06:18:49.000Z ## Abstract 3-D object detection is pivotal for autonomous driving. Point cloud based methods have become increasingly popular for 3-D object detection, owing to their accurate depth information. NuTonomy's nuScenes dataset greatly extends commonly used datasets such as KITTI in size, sensor modalities, categories, and annotation numbers. However, it suffers from severe class imbalance. The Class-balanced Grouping and Sampling paper addresses this issue and suggests augmentation and sampling strategy. However, the localization precision of this model is affected by the loss of spatial information in the downscaled feature maps. We propose to enhance the performance of the CBGS model by designing an auxiliary network, that makes full use of the structure information of the 3D point cloud, in order to improve the localization accuracy. The detachable auxiliary network is jointly optimized by two point-level supervisions, namely foreground segmentation and center estimation. The auxiliary network does not introduce any extra computation during inference, since it can be detached at test time. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()