SAFDNet: A Simple and Effective Network for Fully Sparse 3D Object Detection

arXiv:2403.05817v1 Announce Type: new
Abstract: LiDAR-based 3D object detection plays an essential role in autonomous driving. Existing high-performing 3D object detectors usually build dense feature maps in the backbone network and prediction head. However, the computational costs introduced by the dense feature maps grow quadratically as the perception range increases, making these models hard to scale up to long-range detection. Some recent works have attempted to construct fully sparse detectors to solve this issue; nevertheless, the resulting models either rely …

3d object 3d object detection arxiv cs.cv detection network object simple type