WS-SSD: Achieving faster 3D object detection for autonomous driving via weighted point cloud sampling

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Xusheng Li, Chengliang Wang, Zhuo Zeng

Published: 01 Jan 2024, Last Modified: 12 Apr 2025Expert Syst. Appl. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•The negative effect of the points the road reflects on point sampling was studied.•The proposed W-DFPS enhances the weight of foreground points in sampling results.•A small number of sampling points can also cover most foreground objects.•On the KITTI dataset, the inference speed reached 150.76 FPS.