Authors: Alex H. Lang, Sourabh Vora, Holger Caesar, Lubing Zhou, Jiong Yang, Oscar Beijbom
Published: May 7, 2019
Summary: In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline. Recent literature suggests two types of encoders; fixed encoders tend to be fast but sacrifice accuracy, while encoders that are learned from data are more accurate, but slower. In this work we propose PointPillars, a novel encoder which utilizes PointNets to learn a representation of point clouds organized in vertical columns (pillars).