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

Table 4

Performance with the number of different convolution layers.

Layer	Easy	Moderate	Hard	3D mAP	Time (ms)
2	92.2	82.49	79.87	84.85	105
3	92.21	82.54	80.22	84.99	119
5	91.38	82.33	80.19	84.63	137