Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems
Kyle Vedder,Eric Eaton,Kyle Vedder,Eric Eaton
Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D object detector that maintains and exploits this input sparsity to decrease runtimes over non-sparse baselines and avoids the tradeoff between pseudoimage area and...
