Lightweight 3D Object Detection via Mamba-Based Knowledge Distillation

arXiv:2608.03490v1 Announce Type: new Abstract: 3D object detection using light detection and ranging (LiDAR) sensors requires a balance between accuracy and computational efficiency for onboard perception in autonomous driving and robotic navigation. Many existing LiDAR-based detection methods employ complex architectures to extract features, integrating large amounts of contextual information to enhance accuracy. This often results in significant computational costs, leading to suboptimal performance on resource-constrained embedded devices. In this study, we propose a knowledge distillation framework that transfers object-level voxel representations from a strong teacher model to lightweight student models through selective voxel-space feature alignment. Taking advantage of the linear-time sequence model with selective state spaces (Mamba), we design a multi-branch Mamba teacher backbone and a box-aware feature transfer mechanism that aligns spatially corresponding voxel features between teacher and student networks through a Mamba-based projection module. Experimental results on both a public dataset and real-world data show that our approach significantly reduces computational load while maintaining competitive accuracy compared with state-of-the-art methods.

Abstract:3D object detection using light detection and ranging (LiDAR) sensors requires a balance between accuracy and computational efficiency for onboard perception in autonomous driving and robotic navigation. Many existing LiDAR-based detection methods employ complex architectures to extract features, integrating large amounts of contextual information to enhance accuracy. This often results in significant computational costs, leading to suboptimal performance on resource-constrained embedded devices. In this study, we propose a knowledge distillation framework that transfers object-level voxel representations from a strong teacher model to lightweight student models through selective voxel-space feature alignment. Taking advantage of the linear-time sequence model with selective state spaces (Mamba), we design a multi-branch Mamba teacher backbone and a box-aware feature transfer mechanism that aligns spatially corresponding voxel features between teacher and student networks through a Mamba-based projection module. Experimental results on both a public dataset and real-world data show that our approach significantly reduces computational load while maintaining competitive accuracy compared with state-of-the-art methods.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2608.03490 [cs.RO]

(or arXiv:2608.03490v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.03490 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

https://doi.org/10.1109/LRA.2026.3719203 Focus to learn more DOI(s) linking to related resources

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Lightweight 3D Object Detection via Mamba-Based Knowledge Distillation

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