In terms of current situation of insufficient researches and accuracy issue for 3D Object Detection of Point Cloud,higher model accuracy is possible to be achieved by improved Frustum-Pointnets model based on 3D Object Detection of Point Cloud,and under the cross-reference by means of different activation and initialization.Experimental results shows that using Swish activation and He initialization for detecting bring about,averagely,0.31% accuracy growth for cars detection,0.41% for pedestrians and 5.5% for cyclist.Accordingly,improved model is able to enhance the detection accuracy to be applied to complex occasions.