Shape-Prior-Based Point Cloud Completion for Single-Stage Fully Sparse 3D Object Detection

ArXi:2606.00688v1 Announce Type: new Single-stage fully sparse 3D object detectors rely on point clouds data to detect objects in autonomous driving scenarios. However, the sparsity and incompleteness of point clouds significantly limit the performance of 3D object detection. To address this issue, this paper proposes a point clouds completion method specifically designed for single-stage fully sparse detectors. The entire shape-prior-based completion process consists of two consecutive steps.