Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: CG-SSD: Corner Guided Single Stage 3D Object Detection from LiDAR Point
  Cloud   At present, the anchor-based or anchor-free models that use LiDAR point
clouds for 3D object detection use the center assigner strategy to infer the 3D
bounding boxes. However, in a real world scene, the LiDAR can only acquire a
limited object surface point clouds, but the center point of the object does
not exist. Obtaining the object by aggregating the incomplete surface point
clouds will bring a loss of accuracy in direction and dimension estimation. To
address this problem, we propose a corner-guided anchor-free single-stage 3D
object detection model (CG-SSD ).Firstly, 3D sparse convolution backbone
network composed of residual layers and sub-manifold sparse convolutional
layers are used to construct bird's eye view (BEV) features for further deeper
feature mining by a lite U-shaped network; Secondly, a novel corner-guided
auxiliary module (CGAM) is proposed to incorporate corner supervision signals
into the neural network. CGAM is explicitly designed and trained to detect
partially visible and invisible corners to obtains a more accurate object
feature representation, especially for small or partial occluded objects;
Finally, the deep features from both the backbone networks and CGAM module are
concatenated and fed into the head module to predict the classification and 3D
bounding boxes of the objects in the scene. The experiments demonstrate CG-SSD
achieves the state-of-art performance on the ONCE benchmark for supervised 3D
object detection using single frame point cloud data, with 62.77%mAP.
Additionally, the experiments on ONCE and Waymo Open Dataset show that CGAM can
be extended to most anchor-based models which use the BEV feature to detect
objects, as a plug-in and bring +1.17%-+14.27%AP improvement.

28
The categories of this paper are: alg-geom
3
The categories of this paper are: physics
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
34
The categories of this paper are: chem-ph
2
The categories of this paper are: math
15
The categories of this paper are: nucl-ex
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The categories of this paper are: bayes-an
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The categories of this paper are: stat
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The categories of this paper are: econ
8
The categories of this paper are: hep-ex
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The categories of this paper are: plasm-ph
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The categories of this paper are: hep-lat