Voxel or Pillar: Exploring Efficient Point Cloud Representation for 3D Object Detection

arXiv:2304.02867v2 Announce Type: replace
Abstract: Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain underexplored. In this paper, we quantify the differences between the current encoding paradigms and highlight the limited vertical learning within. To tackle these limitations, we introduce a hybrid Voxel-Pillar Fusion network (VPF), which synergistically combines the unique strengths of both voxels and pillars. Specifically, …

3d object 3d object detection abstract arxiv cloud cs.cv current detection differences encode encoding grid lidar paper representation type voxel