Table 2
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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