PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection. (arXiv:2205.07403v5 [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. In contrast, pillar-based methods use
solely 2D convolutions, which consume less computation resources, but they lag
far behind their voxel-based counterparts in detection accuracy. In this paper,
by examining the primary performance gap between pillar- and voxel-based
detectors, we develop a real-time and high-performance pillar-based detector, …

3d arxiv cv detection performance real-time time