[6] [6] YANG Z T, SUN Y N, LIU S, et al. 3DSSD: Point-based 3D single stage object detector［C］//2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR). Seattle, WA, USA. IEEE, 2020: 11040-11048.

[7] [7] SINDAGI V A, ZHOU Y, TUZEL O. MVX-net: Multimodal VoxelNet for 3D object detection［C］//2019 International Conference on Robotics and Automation (ICRA). New York: IEEE, 2019: 7276-7282.

[9] [9] CHARLES R Q, HAO S, MO K C, et al. PointNet: Deep learning on point sets for 3D classification and segmentation［C］//2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR). New York: IEEE, 2017: 77-85.

[10] [10] KU J, MOZIFIAN M, LEE J, et al. Joint 3D proposal generation and object detection from view aggregation［C］//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). New York: IEEE, 2018: 1-8.

[11] [11] ZHOU Y, TUZEL O. VoxelNet: End-to-end learning for point cloud based 3D object detection［C］//2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition. IEEE, 2018: 4490-4499.

[12] [12] YAN Y, MAO Y X, LI B. SECOND: Sparsely embedded convolutional detection［J］. Sensors, 2018, 18(10): 3337.

[13] [13] LANG A H, VORA S, CAESAR H, et al. PointPillars: Fast encoders for object detection from point clouds［C］//2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR). New York: IEEE, 2019: 12689-12697.

[16] [16] GEIGER A, LENZ P, STILLER C, et al. Vision meets robotics: The KITTI dataset［J］. The International Journal of Robotics Research, 2013, 32(11): 1231-1237.

[20] [20] XU Y C, FU M T, WANG Q M, et al. Gliding vertex on the horizontal bounding box for multi-oriented object detection［J］. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2021, 43(4): 1452-1459.

[21] [21] MA J Q, SHAO W Y, YE H, et al. Arbitrary-oriented scene text detection via rotation proposals［J］. IEEE Transactions on Multimedia, 2018, 20(11): 3111-3122.

[22] [22] HOWARD A, SANDLER M, CHEN B, et al. Searching for MobileNetV3［C］//2019 IEEE/CVF International Conference on Computer Vision (ICCV). New York: IEEE, 2019: 1314-1324.