3D Object Detection on Voxels in Spherical Coordinate System

LiDAR sensors are commonly used to acquire 3D point cloud data in autonomous driving and robotics. Voxel-based 3D convolutional networks have been used for some time to extract features from point clouds for object detection. However, most of the existing work converts point clouds into voxels in the Cartesian coordinate system. In this paper, we describe how to perform 3D detection on voxels in a...