3DSSD: Point-Based 3D Single Stage Object Detector

Prevalence of voxel-based 3D single-stage detectors contrast with underexplored point-based methods. In this paper, we present a lightweight point-based 3D single stage object detector 3DSSD to achieve decent balance of accuracy and efficiency. In this paradigm, all upsampling layers and the refinement stage, which are indispensable in all existing point-based methods, are abandoned. We instead propose a fusion sampling strategy in downsampling process to make detection on less representative points feasible. A delicate box prediction network, including a candidate generation layer and an anchor-free regression head with a 3D center-ness assignment strategy, is developed to meet the demand of high accuracy and…