Scale-Aware Attention-Based PillarsNet (SAPN) Based 3D Object Detection for Point Cloud

Table 3

Comparisons of time costs between different methods.

Method	Modality	Time cost (ms)
F-PointNet [16]	LIDAR+ image	152
AVOD-FPN [15]	LIDAR+ image	95
SECOND [14]	LiDAR	47
PointPillars [6]	LiDAR	19
Ours	LiDAR	26