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

Table 5

Performance of point cloud region pooling with different context widths.

Context width	Easy	Moderate	Hard	3D mAP
0	92.12	82.12	79.67	84.64
0.2	92.21	82.54	80.22	84.99
0.4	91.70	82.45	79.93	84.69