MaskBEV: Joint Object Detection and Footprint Completion for Bird's-Eye View 3D Point Clouds

William Guimont-Martin,Jean-Michel Fortin,François Pomerleau,Philippe Giguère,William Guimont-Martin,Jean-Michel Fortin,François Pomerleau,Philippe Giguère

Recent works in object detection in LiDAR point clouds mostly focus on predicting bounding boxes around objects. This prediction is commonly achieved using anchor-based or anchor-free detectors that predict bounding boxes, requiring significant explicit prior knowledge about the objects to work properly. To remedy these limitations, we propose MaskBEV, a bird's-eye view (BEV) mask-based object det...