Polar Hierarchical Mamba: Towards Streaming LiDAR Object Detection with Point Clouds as Egocentric Sequences

Accurate and efficient object detection is essential for autonomous vehicles, where real-time perception requires low latency and high throughput. LiDAR sensors provide robust depth information, but conventional methods process full 360° scans in a single pass, introducing significant delay. Streaming approaches address this by sequentially processing partial scans in the native polar coordinate system, yet they rely on translation-invariant convolutions that are misaligned with polar geometry -- resulting in degraded performance or requiring complex distortion mitigation. Recent Mamba-based state space models (SSMs) have shown promise for LiDAR perception, but only in the full-scan setting, relying on geometric serialization and positional embeddings that are memory-intensive and ill-suited to streaming. We propose Polar Hierarchical Mamba (PHiM), a novel SSM architecture designed for polar-coordinate streaming LiDAR. PHiM uses local bidirectional Mamba blocks for intra-sector spatial encoding and a global forward Mamba for inter-sector temporal modeling, replacing convolutions and positional encodings with distortion-aware, dimensionally-decomposed operations. PHiM sets a new state-of-the-art among streaming detectors on the Waymo Open Dataset, outperforming the previous best by 10\% and matching full-scan baselines at twice the throughput. Code will be available atthis https URL.

@article{zhang2025_2506.06944,
  title={ Polar Hierarchical Mamba: Towards Streaming LiDAR Object Detection with Point Clouds as Egocentric Sequences },
  author={ Mellon M. Zhang and Glen Chou and Saibal Mukhopadhyay },
  journal={arXiv preprint arXiv:2506.06944},
  year={ 2025 }
}