Bounded Graph Conditioning for LiDAR 3D Object Detection Under Sensor Degradation
Xiuping Li, Xiyan Sun, Jingjing Li, Yuanfa Ji, Wentao Fu · Sensors · 2026
Light Detection and Ranging (LiDAR) three-dimensional (3D) object detection degrades under point sparsity, outliers, coordinate noise, and calibration drift, yet detector evaluation remains largely limited to clean benchmarks. This study focuses on sensing robustness rather than detector redesign. We introduce Bounded Graph Conditioning (BGC)—a deterministic pre-voxelization front-end that applies k-nearest-neighbor (kNN) neighborhood averaging with bounded residual correction upstream of an unchanged detector backbone. BGC is evaluated together with a reproducible sensor-degradation stress protocol and a risk-constrained operating-boundary analysis. Experiments on KITTI with PointPillars, SECOND, and Voxel R-CNN show that BGC most clearly improves retained detection quality and feasible operating coverage under strong noise and strong outlier stress; gains under other degradation types are smaller and backbone-dependent. In the primary score-level box-disjoint calibration/test evaluation on SECOND, maximum feasible coverage at a target risk bound of 0.2 improves from 0.0754 to 0.1374 under strong noise (σ=0.10 m) and from 0.1323 to 0.1591 under strong outliers (p=0.10); a cross-backbone check on Voxel R-CNN confirms the same direction (0.1860→0.2864). Comparison with traditional filtering (SOR and ROR) reveals complementary strengths across fault types. A range-adaptive BGC variant that adjusts parameters per distance bin further improves performance under mixed unknown faults, spherical-coordinate noise, and on a dataset-matched nuScenes validation (adaptive BGC mAP/NDS: 0.2687/0.4493 vs. baseline 0.2471/0.3846 under strong noise). Severe translation drift collapses all configurations to full rejection, exposing an explicit sensing boundary beyond the reach of local conditioning. These results support BGC as a practical sensor-side robustness enhancement under the studied degradation protocol, with conditional rather than universal applicability across backbones and fault types.