论文地址为:3DSSD: Point-based 3D Single Stage Object Detector 代码地址为:github.com/Jia-Research 2 3DSSD模型解析 像PointRCNN这种基于原始点云的二阶段3D检测方法,在第一阶段往往利用Set Abstraction层(SA)进行不断的下采样、分组与特征提取,然后利用Feature Propag