Fully Convolutional One-Stage 3D Object Detection on LiDAR Range Images

  title={Fully Convolutional One-Stage 3D Object Detection on LiDAR Range Images},
  author={Zhi Tian and Xiangxiang Chu and Xiaoming Wang and Xiaolin Wei and Chunhua Shen},
We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector detects objects from the range view (RV, a.k.a. range image) of the LiDAR points. Due to the range view’s compactness and compatibility with the LiDAR sensors’ sampling process on self-driving cars, the range view-based object detector can be realized by… 
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