Voxel-based structures in 3D detection have achieved rapid advancement due to their superior capability for feature extraction. However, the accuracy is usually low because the point cloud is divided into a grid. In order to overcome the above problems and improve detection accuracy, we propose a flexible two -stage 3D object detection architecture, which adopts two branches to refine generated proposals, aggre-gating voxel features and raw point features simultaneously. We also design a new gating mechanism to achieve fusion features from different levels. In addition, we propose a novel feature aggregation module to reduce the semantic gap between the features of the two types. First, a transformer based on raw points is employed as an encoder to aggregate the contextual information. Then, the point-based channel-wise self-attention mechanism serves as a decoder to aggregate the global features. Experiment results on the KITTI 3D dataset and Waymo Open datest demonstrate that our approach out-performs the state-of-the-art methods and exhibits excellent scalability.(c) 2022 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
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