Results of ablation experiments (Bpp/bbox AP).
| 3D Voxel Attention | Ground Points Removal | Bpp/AP | ||
|---|---|---|---|---|
| Level 10 | Level 11 | Level 12 | ||
| ✗ | ✗ | 1.129/87.86% | 2.143/89.19% | 3.864/89.51% |
| ✓ | ✗ | 1.006/88.03% | 2.034/89.37% | 3.804/89.71% |
| ✗ | ✓ | 0.983/87.02% | 1.963/88.52% | 3.415/88.21% |
| ✓ | ✓ | 0.930/87.97% | 1.875/88.90% | 3.230/89.36% |
| 3D Voxel Attention | Ground Points Removal | Bpp/AP | ||
|---|---|---|---|---|
| Level 10 | Level 11 | Level 12 | ||
| ✗ | ✗ | 1.129/87.86% | 2.143/89.19% | 3.864/89.51% |
| ✓ | ✗ | 1.006/88.03% | 2.034/89.37% | 3.804/89.71% |
| ✗ | ✓ | 0.983/87.02% | 1.963/88.52% | 3.415/88.21% |
| ✓ | ✓ | 0.930/87.97% | 1.875/88.90% | 3.230/89.36% |
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