Structure Aware and Class Balanced 3D Object Detection on nuScenes Dataset. (arXiv:2205.12519v1 [cs.CV])

3-D object detection is pivotal for autonomous driving. Point cloud based
methods have become increasingly popular for 3-D object detection, owing to
their accurate depth information. NuTonomy's nuScenes dataset greatly extends
commonly used datasets such as KITTI in size, sensor modalities, categories,
and annotation numbers. However, it suffers from severe class imbalance. The
Class-balanced Grouping and Sampling paper addresses this issue and suggests
augmentation and sampling strategy. However, the localization precision of this
model is affected by the loss of …

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