Abstract:Unlike 2D object detection where all RoI features come from grid pixels, the RoI feature extraction of 3D point cloud object detection is more diverse. In this paper, we first compare and analyze the differences in structure and performance between the two state-of-the-art models PV-RCNN and Voxel-RCNN. Then, we find that the performance gap between the two models does not come from point information, but structural information. The voxel features contain more structural information because they do quantizatio… Show more
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