Not all points are balanced: Class balanced single-stage outdoor multi-class 3D object detector from point clouds

Yidong Chen, Guorong Cai, Qiming Xia, Zhaoliang Liu, Binghui Zeng, Zongliang Zhang, Jinhe Su, Zongyue Wang

Abstract: Highlights•Identifying two imbalance problems for point cloud-based detection.•Proposing two simple balanced strategies to alleviate the imbalance phenomenon.•Good performance and fast speed among single-stage detectors.