Fang-Dong Li

Geometry and density-aware PointPillars for lightweight 3D object detection

To address missed detections of distant sparse objects in LiDAR 3D detection and inference latency on edge devices, we propose GD-Pillars, a lightweight algorithm. First, a Geometry and Density-Aware Pillar Feature Encoding (GD-PFE) network enhances local geometric descriptions and compensates for sparse target feature...