An Anchor-Free 3D Object Detection Approach Based on Hierarchical Pillars

Algorithm 1

The detected 3D bounding box generating algorithm.

Input:: the set of detected center locations of

 category in BEV; : the number detected centers of

 category ; : the pillar side length

Output: Detected bounding box set

1: fordo

2: Obtain the corresponding x-y offset, z coordinate, size,

 orientation and fine-tune offset:

3:  

4: end for