[1] ZHAO Y Q, AKBAR A, CHEN R et al. 3D point cloud object detection method in view of voxel based on graph convolution network[J]. Infrared and Laser Engineering, 50, 20200500(2021).

[2] YAN J, FANG Z J, GAO Y B. 3D object detection based on domain attention and dilated convolution[J]. Journal of Image and Graphics, 25, 1221-1234(2020).

[3] CHARLES R Q, SU H, KAICHUN M et al. PointNet: deep learning on point sets for 3D classification and segmentation[C], 77-85(2017).

[4] QI C R, YI L, SU H et al. PointNet++: deep hierarchical feature learning on point sets in a metric space[C](2017).

[5] SHI S S, WANG X G, LI H S. PointRCNN: 3D object proposal generation and detection from point cloud[C](2019).

[6] YANG Z T, SUN Y N, LIU S et al. STD: sparse-to-dense 3D object detector for point cloud[C](2019).

[7] ZHOU Y, TUZEL O. VoxelNet: end-to-end learning for point cloud based 3D object detection[C], 4490-4499(2018).

[8] LANG A H, VORA S, CAESAR H et al. PointPillars: fast encoders for object detection from point clouds[C], 12689-12697(2019).

[9] DENG J J, SHI S S, LI P W et al. Voxel R-CNN: towards high performance voxel-based 3D object detection[C](2021).

[10] WANG B, ZHU M, LU Y et al. Real-time 3D object detection from point cloud through foreground segmentation[J]. IEEE Access, 9, 84886-84898(2021).

[11] GRAHAM B. Sparse 3D convolutional neural networks[C](2015).

[12] GRAHAM B, ENGELCKE M, VAN DER MAATEN L. 3D semantic segmentation with submanifold sparse convolutional networks[C], 9224-9232(2018).

[13] LIN T Y, GOYAL P, GIRSHICK R et al. Focal loss for dense object detection[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 42, 318-327(2020).

[14] LIU C J, HAO Z C, YANG J C et al. Object 3D position estimation based on instance segmentation[J]. Chinese Journal of Liquid CRystals and Displays, 36, 1535-1544(2021).

[15] YAN Y, MAO Y X, LI B. SECOND: sparsely embedded convolutional detection[J]. Sensors, 18, 3337(2018).

[16] YANG B, LUO W J, URTASUN R. PIXOR: real-time 3D object detection from point clouds[C], 7652-7660(2018).

[17] CHEN X Z, MA H M, WAN J et al. Multi-view 3D object detection network for autonomous driving[C], 6526-6534(2017).