Unifying Voxel-based Representation with Transformer for 3D Object Detection. (arXiv:2206.00630v2 [cs.CV] UPDATED)

In this work, we present a unified framework for multi-modality 3D object
detection, named UVTR. The proposed method aims to unify multi-modality
representations in the voxel space for accurate and robust single- or
cross-modality 3D detection. To this end, the modality-specific space is first
designed to represent different inputs in the voxel feature space. Different
from previous work, our approach preserves the voxel space without height
compression to alleviate semantic ambiguity and enable spatial connections. To
make full use of …

arxiv detection representation transformer voxel