STD is a two-stage point-cloud 3D detector using point-seeded spherical anchors for proposals, PointsPool for feature aggregation, and an IoU branch, reporting large gains over prior methods on KITTI especially on hard cases at >10 FPS.
http: //www.cvlibs.net/datasets/kitti/eval_ object.php?obj_benchmark=3d, 2019
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STD: Sparse-to-Dense 3D Object Detector for Point Cloud
STD is a two-stage point-cloud 3D detector using point-seeded spherical anchors for proposals, PointsPool for feature aggregation, and an IoU branch, reporting large gains over prior methods on KITTI especially on hard cases at >10 FPS.