Voxel Set Transformer: A Set-to-Set Approach to 3D Object Detection from Point Clouds (CVPR2022)
Voxel Set Transformer: A Set-to-Set Approach to 3D Object Detection from Point Clouds (CVPR2022)[paper]
Authors: Chenhang He, Ruihuang Li, Shuai Li, Lei Zhang.
This project is built on OpenPCDet.
Introduction
Transformer has demonstrated promising performance in many 2D vision tasks. However, it is cumbersome to compute the self-attention on large-scale point cloud data because point cloud is a long sequence and unevenly distributed in 3D space. To solve this issue, existing methods usually compute self-attention locally by grouping the points into clusters of the same size, or perform convolutional self-attention on a discretized representation. However, the former results in stochastic point dropout, while the latter typically has narrow attention fields. In this paper, we