PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection. (arXiv:2205.07403v2 [cs.CV] UPDATED)

Real-time and high-performance 3D object detection is of critical importance
for autonomous driving. Recent top-performing 3D object detectors mainly rely
on point-based or 3D voxel-based convolutions, which are both computationally
inefficient for onboard deployment. While recent researches focus on
point-based or 3D voxel-based convolutions for higher performance, these
methods fail to meet latency and power efficiency requirements especially for
deployment on embedded devices. In contrast, pillar-based methods use merely 2D
convolutions, which consume less computation resources, but they lag far …

3d arxiv cv detection performance real-time time