Voxel-FPN: multi-scale voxel feature aggregation in 3D object detection from point clouds

Understand

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications.

• In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data from LIDAR sensors only.
• The core framework consists of an encoder network and a corresponding decoder followed by a region proposal network.
• Encoder extracts multi-scale voxel information in a bottom-up manner while decoder fuses multiple feature maps from various scales in a top-down way.