Enhancing Point Features with Spatial Information for Point-Based 3D Object Detection

<div>Illustration of the AAF module. FC represents fully connected layer, <svg height="7.35473pt" id="M34" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 7.75925 7.35473" width="7.75925pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M573 255C573 407 448 530 294 530S15 407 15 255S140 -20 294 -20S573 103 573 255ZM520 280H323V484C426 471 508 386 520 280ZM265 280H68C80 386 162 471 265 484V280ZM265 26C162 39 80 124 68 230H265V26ZM520 230C508 124 426 39 323 26V230H520Z"></path></g></svg> represents element-wise addition, and <svg height="7.35473pt" id="M35" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 7.75925 7.35473" width="7.75925pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M573 255C573 407 448 530 294 530S15 407 15 255S140 -20 294 -20S573 103 573 255ZM521 255C521 201 503 151 472 111L331 254L472 398C503 359 521 309 521 255ZM436 436L294 291L152 436C191 467 241 486 294 486S397 467 436 436ZM257 254L116 111C85 151 67 201 67 255S85 359 116 398L257 254ZM435 74C396 43 347 24 294 24S192 43 153 74L294 217L435 74Z"></path></g></svg> represents element-wise multiplication.</div>

Scientific Programming

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Figure 4

Figure 4: Enhancing Point Features with Spatial Information for Point-Based 3D Object Detection 