Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Not All Points Are Equal: Learning Highly Efficient Point-based
  Detectors for 3D LiDAR Point Clouds   We study the problem of efficient object detection of 3D LiDAR point clouds.
To reduce the memory and computational cost, existing point-based pipelines
usually adopt task-agnostic random sampling or farthest point sampling to
progressively downsample input point clouds, despite the fact that not all
points are equally important to the task of object detection. In particular,
the foreground points are inherently more important than background points for
object detectors. Motivated by this, we propose a highly-efficient single-stage
point-based 3D detector in this paper, termed IA-SSD. The key of our approach
is to exploit two learnable, task-oriented, instance-aware downsampling
strategies to hierarchically select the foreground points belonging to objects
of interest. Additionally, we also introduce a contextual centroid perception
module to further estimate precise instance centers. Finally, we build our
IA-SSD following the encoder-only architecture for efficiency. Extensive
experiments conducted on several large-scale detection benchmarks demonstrate
the competitive performance of our IA-SSD. Thanks to the low memory footprint
and a high degree of parallelism, it achieves a superior speed of 80+
frames-per-second on the KITTI dataset with a single RTX2080Ti GPU. The code is
available at \url{https://github.com/yifanzhang713/IA-SSD}.

9
The categories of this paper are: nlin
12
The categories of this paper are: nucl-th
20
The categories of this paper are: acc-phys
10
The categories of this paper are: q-bio
29
The categories of this paper are: funct-an
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
35
The categories of this paper are: mtrl-th
5
The categories of this paper are: gr-qc
28
The categories of this paper are: alg-geom
26
The categories of this paper are: bayes-an
23
The categories of this paper are: solv-int
19
The categories of this paper are: eess
27
The categories of this paper are: comp-gas