Complex-YOLO: Real-time 3D Object Detection on Point Clouds

August 2019

tl;dr: Detect 2D oriented bbox with BEV maps by adding angle regression to YOLO.

Overall impression

The paper is clearly written and the innovation is limited. However the performance is really nice – this is exactly the type of paper industry likes.

It is twice slower than Point Pillars achieves 115 fps.

Key ideas

Technical details