Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches achieve good performance, at relatively low inference time. Nevertheless, given the inherent high sparsity of LiDAR data, these methods struggle in long-range detection (e.g. 200m) which we deem to be critical in achieving safe automation. Aggregating multiple scans not only leads to a denser point cloud representation, but it also brings time-awareness to the system, and provides information about how the environment is changing. Solutions of this kind, however, are often highly problem-specific, demand careful data processing, and tend not to fulfil runtime requirements. In this context we propose TimePillars, a temporally-recurrent object detection pipeline which leverages the pillar representation of LiDAR data across time, respecting hardware integration efficiency constraints, and exploiting the diversity and long-range information of the novel Zenseact Open Dataset (ZOD). Through experimentation, we prove the benefits of having recurrency, and show how basic building blocks are enough to achieve robust and efficient results.

通过时间周期性地利用LiDAR数据的柱状表示，TimePillars可以实现在硬件集成效率约束下利用Zenseact Open数据集的多样性和长距离信息，从而实现稳健且高效的目标检测。

TimePillars: 时序循环的3D LiDAR物体检测