CenterNet3D: An Anchor Free Object Detector for Point Cloud

Understand

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving.

• Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are inefficient and require additional post-processing.
• In this paper, we eliminate anchors and model an object as a single point--the center point of its bounding box.
• Based on the center point, we propose an anchor-free CenterNet3D network that performs 3D object detection without anchors.