[Detr for 3D object detection] 3detr: an end to end transformer model for 3D object detection

Brief introduction of the paper ：

This paper proposes an end-to-end 3D Target detection model , A new algorithm with nonparametric query and Fourier position embedding is proposed Transformer. Through a large number of experiments, it is found that ,3DETR In challenging ScanNetV2 Data set is better than VoteNet Baseline above 9.5%. Besides , This article also shows 3DETR It is applicable to 3D tasks other than detection , And can be used as a building block for future research .

among 3DETR It is an end-to-end trainable Transformer, It takes a set of three-dimensional points （ Point cloud