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We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based features are efficient to extract, while they fail to preserve fine-grained 3D structures of objects. Point-based features, on the other hand, represent the 3D structures more accurately, but extracting these features is computationally expensive. We introduce in this paper a novel single-stage 3D detection method having the merit of both voxel-based and point-based features. To this end, we propose a new convolutional neural network (CNN) architecture, dubbed HVPR, that integrates both features into a single 3D representation effectively and efficiently. Specifically, we augment the point-based features with a memory module to reduce the computational cost. We then aggregate the features in the memory, semantically similar to each voxel-based one, to obtain a hybrid 3D representation in a form of a pseudo image, allowing to localize 3D objects in a single stage efficiently. We also propose an Attentive Multi-scale Feature Module (AMFM) that extracts scale-aware features considering the sparse and irregular patterns of point clouds. Experimental results on the KITTI dataset demonstrate the effectiveness and efficiency of our approach, achieving a better compromise in terms of speed and accuracy.

HVPR: Hybrid Voxel-Point Representation for Single-stage 3D Object Detection