Method

Point Virtual Transformer V1 [PointVit V1]
[Anonymous Submission]

Submitted on 5 Aug. 2025 10:14 by
[Anonymous Submission]

Running time:.006 s
Environment:1 core @ 2.5 Ghz (Python + C/C++)

Method Description:
This is a single stage transformer architecture
operating directly on voxelized LiDAR points.
PointViT V1 introduces depth based virtual points,
integrates self attention with local depthwise
convolutions, and employs a multiscale voxel
feature encoder.
Parameters:
Number of transformer heads: 4
Latex Bibtex:

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (Detection) 99.36 % 94.04 % 86.46 %
Car (Orientation) 99.34 % 93.98 % 86.37 %
Car (3D Detection) 91.16 % 79.93 % 72.51 %
Car (Bird's Eye View) 95.94 % 89.95 % 82.40 %
This table as LaTeX

2D object detection results.
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Orientation estimation results.
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3D object detection results.
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Bird's eye view results.
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