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

Table 2

Experiment configuration evaluated.

Key innovations	Baseline	m2	m3	m4	HPAF
HFE	×	√	√	√	√
PCA initialization	×	×	√	√	√
Anchor-free (w/o size loss term)	×	×	×	√	×
Anchor-free (w/size loss term)	×	×	×	×	√
Inference time (ms)	23	45	42	27	28
	74.73	76.88	77.17	77.22	78.65