Focal Sparse Convolutional Networks for 3D Object Detection (CVPR 2022, Oral)

This is the official implementation of Focals Conv (CVPR 2022), a new sparse convolution design for 3D object detection (feasible for both lidar-only and multi-modal settings). For more details, please refer to:

Focal Sparse Convolutional Networks for 3D Object Detection [Paper]
Yukang Chen, Yanwei Li, Xiangyu Zhang, Jian Sun, Jiaya Jia

Visualization of voxel distribution of Focals Conv on KITTI val dataset:

Citation

If you find this project useful in your research, please consider citing:

@inproceedings{focalsconv-chen,
  title={Focal Sparse Convolutional Networks for 3D Object Detection},
  author={Chen, Yukang and Li, Yanwei and Zhang, Xiangyu and Sun, Jian and Jia, Jiaya},
  booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
  year={2022}
}

License

This project is released under the Apache 2.0 license.