Multi-Stage Transformer 3D Object Detection Method

Abstract

With the development of autonomous driving, 3D object detection has experience great expectations. As the light detection and ranging (LiDAR) sensor can precisely measure the distance between environments and themselves, it has become the key component of current 3D object detection methods. However, the varing density and unstructure storage of LiDAR points cloud make it hard for feature learning. To tackle this problem, this paper proposes a multi-task transformer 3D object detection method.This method include a fast transformer based 3D encoder and a multi-stage transformer decoder. Extensive experiments demonstrate that our method can supress current other 3D object detection methods with a clear margin.