Research Article
MANet: End-to-End Learning for Point Cloud Based on Robust Pointpillar and Multiattention
Table 1
Ablation experiments on the effect of CBAM, SE, and TA as well as different combination settings.
| Methods | Car | Pedestrian | Cyclist | mAP |
| Baseline [6] | 74.9 | 43.5 | 64.5 | 59.0 | SE [18] | 68.3 | 44.94 | 51.72 | 54.9 | CBAM [8] | 76.1 | 50.2 | 64.3 | 63.5 | TA [7] | 78.8 | 46.47 | 59.60 | 62 | TA + CBAM | 78.8 | 51.74 | 64.74 | 65.1 |
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