Figure 1.
The multi-stage diagram shows a three-dimensional point cloud processing pipeline. At the top left, a dense three-dimensional point cloud object appears. An arrow labelled C S F filtering points to a voxelization stage represented by a three-dimensional block structure. An arrow leads to a section labelled three-dimensional feature vector and B E V. Two outputs labelled c l s and B B o x appear as separate rectangular blocks. The lower section begins with a cube containing scattered circular points. An arrow leads to a label reading input points and their features. A vertical block labelled fully connected layer follows. Rectangular feature bars appear next. An element point max pooling stage is indicated by a vertical block. An arrow leads to a block labelled concatenation. Additional vertical feature bars are displayed. At the bottom right, a grid contains several small square points, one star symbol, and an inclined rectangular bounding box.Algorithm flow chart
Source(s): Authors’ own work