Rethinking the Encoding and Annotating of 3D Bounding Box: Corner-Aware 3D Object Detection from Point Clouds

Qinghao Meng, Junbo Yin, Jianbing Shen +1

Center-aligned regression remains dominant in LiDAR-based 3D object detection, yet it suffers from fundamental instability: object centers often fall in sparse or empty regions of…