CenterAtt: Fast 2-stage Center Attention Network

Understand

In this technical report, we introduce the methods of HIKVISION_LiDAR_Det in the challenge of waymo open dataset real-time 3D detection.

• Our solution for the competition are built upon Centerpoint 3D detection framework.
• Several variants of CenterPoint are explored, including center attention head and feature pyramid network neck.
• In order to achieve real time detection, methods like batchnorm merge, half-precision floating point network and GPU-accelerated voxelization process are adopted.