SIENet: Spatial Information Enhancement Network for 3D Object Detection from Point Cloud

Understand

LiDAR-based 3D object detection pushes forward an immense influence on autonomous vehicles.

• Due to the limitation of the intrinsic properties of LiDAR, fewer points are collected at the objects farther away from the sensor.
• This imbalanced density of point clouds degrades the detection accuracy but is generally neglected by previous works.
• To address the challenge, we propose a novel two-stage 3D object detection framework, named SIENet.