PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection
Zhaoqi Leng,Pei Sun,Tong He,Dragomir Anguelov,Mingxing Tan,Zhaoqi Leng,Pei Sun,Tong He,Dragomir Anguelov,Mingxing Tan
3D object detectors for point clouds often rely on a pooling-based PointNet [20] to encode sparse points into grid-like voxels or pillars. In this paper, we identify that the common PointNet design introduces an information bottleneck that limits 3D object detection accuracy and scalability. To address this limitation, we propose PVTransformer: a transformer-based point-to-voxel architecture for 3...
