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

Table 3

Effect of multiscale fusion module.

Method	Easy	Moderate	Hard	3D mAP	Time (ms)
RPN baseline	85.66	76.48	76.05	79.40	80
SFP	91.59	82.32	79.89	84.6	93
MFP	92.2	82.49	79.87	84.85	105

SFP: single-scale feature propagation layer fusion; MFP: multiscale feature propagation layer fusion.