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

Table 6

Effect of spatial information enhancement module.

Method	Easy	Moderate	Hard	3D mAP	Time (ms)
RCNN baseline	92.21	82.54	80.22	84.99	119
SSE-con	91.85	82.28	80.00	84.71	127
SSE-att	92.61	83.00	80.63	85.41	130

SSE-con represents the spatial information enhancement module of simple connection. SSE-att represents the spatial information enhancement module based on attention fusion.