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In this technical report, we introduce our submission to the Waymo 3D Detection leaderboard. Our network is based on the Centerpoint architecture, but with significant improvements. We design a 2D backbone to utilize multi-scale features for better detecting objects with various sizes, together with an optimal transport-based target assignment strategy, which dynamically assigns richer supervision signals to the detection candidates. We also apply test-time augmentation and model-ensemble for further improvements. Our submission currently ranks 4th place with 78.45 mAPH on the Waymo 3D Detection leaderboard.
Chen et al. (Mon,) studied this question.