id	sid	tid	token	lemma	pos
fcis-1629	1	1	frontiers	frontier	NOUN
fcis-1629	1	2	in	in	ADP
fcis-1629	1	3	computing	computing	NOUN
fcis-1629	1	4	and	and	CCONJ
fcis-1629	1	5	intelligent	intelligent	ADJ
fcis-1629	1	6	systems	system	NOUN
fcis-1629	1	7	issn	issn	VERB
fcis-1629	1	8	:	:	PUNCT
fcis-1629	1	9	2832	2832	NUM
fcis-1629	1	10	-	-	SYM
fcis-1629	1	11	6024	6024	NUM
fcis-1629	1	12	|	|	NOUN
fcis-1629	1	13	vol	vol	NOUN
fcis-1629	1	14	.	.	PROPN
fcis-1629	2	1	1	1	NUM
fcis-1629	2	2	,	,	PUNCT
fcis-1629	2	3	no	no	INTJ
fcis-1629	2	4	.	.	NOUN
fcis-1629	2	5	2	2	NUM
fcis-1629	2	6	,	,	PUNCT
fcis-1629	2	7	2022	2022	NUM
fcis-1629	2	8	27	27	NUM
fcis-1629	2	9	multi	multi	ADJ
fcis-1629	2	10	-	-	ADJ
fcis-1629	2	11	stage	stage	ADJ
fcis-1629	2	12	transformer	transformer	NOUN
fcis-1629	2	13	3d	3d	NUM
fcis-1629	2	14	object	object	NOUN
fcis-1629	2	15	detection	detection	NOUN
fcis-1629	2	16	method	method	NOUN
fcis-1629	2	17	yanfei	yanfei	PROPN
fcis-1629	2	18	liu	liu	PROPN
fcis-1629	2	19	1	1	NUM
fcis-1629	2	20	,	,	PUNCT
fcis-1629	2	21	kanglin	kanglin	NOUN
fcis-1629	2	22	ning	ning	NOUN
fcis-1629	2	23	1	1	NUM
fcis-1629	2	24	,	,	PUNCT
fcis-1629	2	25	*	*	PUNCT
fcis-1629	2	26	1	1	NUM
fcis-1629	2	27	department	department	NOUN
fcis-1629	2	28	of	of	ADP
fcis-1629	2	29	basic	basic	ADJ
fcis-1629	2	30	courses	course	NOUN
fcis-1629	2	31	,	,	PUNCT
fcis-1629	2	32	high	high	ADJ
fcis-1629	2	33	-	-	PUNCT
fcis-1629	2	34	tech	tech	NOUN
fcis-1629	2	35	institute	institute	NOUN
fcis-1629	2	36	of	of	ADP
fcis-1629	2	37	xi'an	xi'an	PROPN
fcis-1629	2	38	,	,	PUNCT
fcis-1629	2	39	xi’an	xi’an	PROPN
fcis-1629	2	40	,	,	PUNCT
fcis-1629	2	41	710025	710025	NUM
fcis-1629	2	42	,	,	PUNCT
fcis-1629	2	43	shanxi	shanxi	PROPN
fcis-1629	2	44	province	province	PROPN
fcis-1629	2	45	,	,	PUNCT
fcis-1629	2	46	china	china	PROPN
fcis-1629	2	47	*	*	PUNCT
fcis-1629	2	48	corresponding	correspond	VERB
fcis-1629	2	49	author	author	NOUN
fcis-1629	2	50	:	:	PUNCT
fcis-1629	2	51	kanglin	kanglin	PROPN
fcis-1629	2	52	ning	ning	PROPN
fcis-1629	2	53	(	(	PUNCT
fcis-1629	2	54	email	email	NOUN
fcis-1629	2	55	:	:	PUNCT
fcis-1629	2	56	ningkangl@icloud.com	ningkangl@icloud.com	X
fcis-1629	2	57	)	)	PUNCT
fcis-1629	2	58	abstract	abstract	NOUN
fcis-1629	2	59	:	:	PUNCT
fcis-1629	2	60	with	with	ADP
fcis-1629	2	61	the	the	DET
fcis-1629	2	62	development	development	NOUN
fcis-1629	2	63	of	of	ADP
fcis-1629	2	64	autonomous	autonomous	ADJ
fcis-1629	2	65	driving	driving	NOUN
fcis-1629	2	66	,	,	PUNCT
fcis-1629	2	67	3d	3d	NUM
fcis-1629	2	68	object	object	NOUN
fcis-1629	2	69	detection	detection	NOUN
fcis-1629	2	70	has	have	AUX
fcis-1629	2	71	experience	experience	VERB
fcis-1629	2	72	great	great	ADJ
fcis-1629	2	73	expectations	expectation	NOUN
fcis-1629	2	74	.	.	PUNCT
fcis-1629	3	1	as	as	SCONJ
fcis-1629	3	2	the	the	DET
fcis-1629	3	3	light	light	ADJ
fcis-1629	3	4	detection	detection	NOUN
fcis-1629	3	5	and	and	CCONJ
fcis-1629	3	6	ranging	ranging	NOUN
fcis-1629	3	7	(	(	PUNCT
fcis-1629	3	8	lidar	lidar	NOUN
fcis-1629	3	9	)	)	PUNCT
fcis-1629	3	10	sensor	sensor	NOUN
fcis-1629	3	11	can	can	AUX
fcis-1629	3	12	precisely	precisely	ADV
fcis-1629	3	13	measure	measure	VERB
fcis-1629	3	14	the	the	DET
fcis-1629	3	15	distance	distance	NOUN
fcis-1629	3	16	between	between	ADP
fcis-1629	3	17	environments	environment	NOUN
fcis-1629	3	18	and	and	CCONJ
fcis-1629	3	19	themselves	themselves	PRON
fcis-1629	3	20	,	,	PUNCT
fcis-1629	3	21	it	it	PRON
fcis-1629	3	22	has	have	AUX
fcis-1629	3	23	become	become	VERB
fcis-1629	3	24	the	the	DET
fcis-1629	3	25	key	key	ADJ
fcis-1629	3	26	component	component	NOUN
fcis-1629	3	27	of	of	ADP
fcis-1629	3	28	current	current	ADJ
fcis-1629	3	29	3d	3d	NUM
fcis-1629	3	30	object	object	NOUN
fcis-1629	3	31	detection	detection	NOUN
fcis-1629	3	32	methods	method	NOUN
fcis-1629	3	33	.	.	PUNCT
fcis-1629	4	1	however	however	ADV
fcis-1629	4	2	,	,	PUNCT
fcis-1629	4	3	the	the	DET
fcis-1629	4	4	varing	vare	VERB
fcis-1629	4	5	density	density	NOUN
fcis-1629	4	6	and	and	CCONJ
fcis-1629	4	7	unstructure	unstructure	NOUN
fcis-1629	4	8	storage	storage	NOUN
fcis-1629	4	9	of	of	ADP
fcis-1629	4	10	lidar	lidar	NOUN
fcis-1629	4	11	points	point	NOUN
fcis-1629	4	12	cloud	cloud	NOUN
fcis-1629	4	13	make	make	VERB
fcis-1629	4	14	it	it	PRON
fcis-1629	4	15	hard	hard	ADJ
fcis-1629	4	16	for	for	ADP
fcis-1629	4	17	feature	feature	NOUN
fcis-1629	4	18	learning	learning	NOUN
fcis-1629	4	19	.	.	PUNCT
fcis-1629	5	1	to	to	PART
fcis-1629	5	2	tackle	tackle	VERB
fcis-1629	5	3	this	this	DET
fcis-1629	5	4	problem	problem	NOUN
fcis-1629	5	5	,	,	PUNCT
fcis-1629	5	6	this	this	DET
fcis-1629	5	7	paper	paper	NOUN
fcis-1629	5	8	proposes	propose	VERB
fcis-1629	5	9	a	a	DET
fcis-1629	5	10	multi	multi	ADJ
fcis-1629	5	11	-	-	ADJ
fcis-1629	5	12	task	task	ADJ
fcis-1629	5	13	transformer	transformer	NOUN
fcis-1629	5	14	3d	3d	NUM
fcis-1629	5	15	object	object	NOUN
fcis-1629	5	16	detection	detection	NOUN
fcis-1629	5	17	method.this	method.this	DET
fcis-1629	5	18	method	method	NOUN
fcis-1629	5	19	include	include	VERB
fcis-1629	5	20	a	a	DET
fcis-1629	5	21	fast	fast	ADJ
fcis-1629	5	22	transformer	transformer	NOUN
fcis-1629	5	23	based	base	VERB
fcis-1629	5	24	3d	3d	PROPN
fcis-1629	5	25	encoder	encoder	NOUN
fcis-1629	5	26	and	and	CCONJ
fcis-1629	5	27	a	a	DET
fcis-1629	5	28	multi	multi	ADJ
fcis-1629	5	29	-	-	ADJ
fcis-1629	5	30	stage	stage	ADJ
fcis-1629	5	31	transformer	transformer	NOUN
fcis-1629	5	32	decoder	decoder	NOUN
fcis-1629	5	33	.	.	PUNCT
fcis-1629	6	1	extensive	extensive	ADJ
fcis-1629	6	2	experiments	experiment	NOUN
fcis-1629	6	3	demonstrate	demonstrate	VERB
fcis-1629	6	4	that	that	SCONJ
fcis-1629	6	5	our	our	PRON
fcis-1629	6	6	method	method	NOUN
fcis-1629	6	7	can	can	AUX
fcis-1629	6	8	supress	supress	VERB
fcis-1629	6	9	current	current	ADJ
fcis-1629	6	10	other	other	ADJ
fcis-1629	6	11	3d	3d	NUM
fcis-1629	6	12	object	object	NOUN
fcis-1629	6	13	detection	detection	NOUN
fcis-1629	6	14	methods	method	NOUN
fcis-1629	6	15	with	with	ADP
fcis-1629	6	16	a	a	DET
fcis-1629	6	17	clear	clear	ADJ
fcis-1629	6	18	margin	margin	NOUN
fcis-1629	6	19	.	.	PUNCT
fcis-1629	7	1	keywords	keyword	NOUN
fcis-1629	7	2	:	:	PUNCT
fcis-1629	7	3	3d	3d	NUM
fcis-1629	7	4	object	object	NOUN
fcis-1629	7	5	detection	detection	NOUN
fcis-1629	7	6	;	;	PUNCT
fcis-1629	7	7	point	point	NOUN
fcis-1629	7	8	cloud	cloud	NOUN
fcis-1629	7	9	;	;	PUNCT
fcis-1629	7	10	3d	3d	NUM
fcis-1629	7	11	vision	vision	NOUN
fcis-1629	7	12	;	;	PUNCT
fcis-1629	7	13	deep	deep	ADJ
fcis-1629	7	14	learning	learning	NOUN
fcis-1629	7	15	.	.	PUNCT
fcis-1629	8	1	1	1	X
fcis-1629	8	2	.	.	X
fcis-1629	8	3	introduction	introduction	NOUN
fcis-1629	8	4	3d	3d	NUM
fcis-1629	8	5	object	object	NOUN
fcis-1629	8	6	detection	detection	NOUN
fcis-1629	8	7	from	from	ADP
fcis-1629	8	8	the	the	DET
fcis-1629	8	9	point	point	NOUN
fcis-1629	8	10	cloud	cloud	NOUN
fcis-1629	8	11	has	have	AUX
fcis-1629	8	12	experienced	experience	VERB
fcis-1629	8	13	great	great	ADJ
fcis-1629	8	14	flourish	flourish	NOUN
fcis-1629	8	15	and	and	CCONJ
fcis-1629	8	16	has	have	AUX
fcis-1629	8	17	become	become	VERB
fcis-1629	8	18	a	a	DET
fcis-1629	8	19	practical	practical	ADJ
fcis-1629	8	20	solution	solution	NOUN
fcis-1629	8	21	to	to	ADP
fcis-1629	8	22	robotic	robotic	ADJ
fcis-1629	8	23	vision	vision	NOUN
fcis-1629	8	24	.	.	PUNCT
fcis-1629	9	1	different	different	ADJ
fcis-1629	9	2	from	from	ADP
fcis-1629	9	3	the	the	DET
fcis-1629	9	4	image	image	NOUN
fcis-1629	9	5	,	,	PUNCT
fcis-1629	9	6	the	the	DET
fcis-1629	9	7	point	point	NOUN
fcis-1629	9	8	cloud	cloud	NOUN
fcis-1629	9	9	generated	generate	VERB
fcis-1629	9	10	by	by	ADP
fcis-1629	9	11	lidar	lidar	NOUN
fcis-1629	9	12	can	can	AUX
fcis-1629	9	13	precisely	precisely	ADV
fcis-1629	9	14	measure	measure	VERB
fcis-1629	9	15	the	the	DET
fcis-1629	9	16	distance	distance	NOUN
fcis-1629	9	17	from	from	ADP
fcis-1629	9	18	the	the	DET
fcis-1629	9	19	lidar	lidar	NOUN
fcis-1629	9	20	to	to	ADP
fcis-1629	9	21	the	the	DET
fcis-1629	9	22	environment	environment	NOUN
fcis-1629	9	23	,	,	PUNCT
fcis-1629	9	24	which	which	PRON
fcis-1629	9	25	is	be	AUX
fcis-1629	9	26	crucial	crucial	ADJ
fcis-1629	9	27	for	for	ADP
fcis-1629	9	28	a	a	DET
fcis-1629	9	29	3d	3d	NUM
fcis-1629	9	30	object	object	NOUN
fcis-1629	9	31	detection	detection	NOUN
fcis-1629	9	32	scenario	scenario	NOUN
fcis-1629	9	33	.	.	PUNCT
fcis-1629	10	1	however	however	ADV
fcis-1629	10	2	,	,	PUNCT
fcis-1629	10	3	the	the	DET
fcis-1629	10	4	varying	vary	VERB
fcis-1629	10	5	density	density	NOUN
fcis-1629	10	6	of	of	ADP
fcis-1629	10	7	lidar	lidar	NOUN
fcis-1629	10	8	point	point	NOUN
fcis-1629	10	9	cloud	cloud	NOUN
fcis-1629	10	10	leads	lead	VERB
fcis-1629	10	11	to	to	ADP
fcis-1629	10	12	challenging	challenge	VERB
fcis-1629	10	13	feature	feature	NOUN
fcis-1629	10	14	representation	representation	NOUN
fcis-1629	10	15	learning	learning	NOUN
fcis-1629	10	16	.	.	PUNCT
fcis-1629	11	1	like	like	ADP
fcis-1629	11	2	the	the	DET
fcis-1629	11	3	detection	detection	NOUN
fcis-1629	11	4	methods	method	NOUN
fcis-1629	11	5	on	on	ADP
fcis-1629	11	6	2d	2d	NUM
fcis-1629	11	7	images	image	NOUN
fcis-1629	11	8	,	,	PUNCT
fcis-1629	11	9	these	these	DET
fcis-1629	11	10	3d	3d	NUM
fcis-1629	11	11	detectors	detector	NOUN
fcis-1629	11	12	can	can	AUX
fcis-1629	11	13	also	also	ADV
fcis-1629	11	14	be	be	AUX
fcis-1629	11	15	divided	divide	VERB
fcis-1629	11	16	into	into	ADP
fcis-1629	11	17	two	two	NUM
fcis-1629	11	18	groups	group	NOUN
fcis-1629	11	19	:	:	PUNCT
fcis-1629	11	20	one	one	NUM
fcis-1629	11	21	-	-	PUNCT
fcis-1629	11	22	stage	stage	NOUN
fcis-1629	11	23	detectors	detector	NOUN
fcis-1629	11	24	–	–	PUNCT
fcis-1629	11	25	and	and	CCONJ
fcis-1629	11	26	two	two	NUM
fcis-1629	11	27	-	-	PUNCT
fcis-1629	11	28	stage	stage	NOUN
fcis-1629	11	29	detectors	detector	NOUN
fcis-1629	11	30	–	–	PUNCT
fcis-1629	11	31	,	,	PUNCT
fcis-1629	11	32	in	in	ADP
fcis-1629	11	33	terms	term	NOUN
fcis-1629	11	34	of	of	ADP
fcis-1629	11	35	model	model	NOUN
fcis-1629	11	36	structure	structure	NOUN
fcis-1629	11	37	.	.	PUNCT
fcis-1629	12	1	as	as	SCONJ
fcis-1629	12	2	two	two	NUM
fcis-1629	12	3	-	-	PUNCT
fcis-1629	12	4	stage	stage	NOUN
fcis-1629	12	5	detectors	detector	NOUN
fcis-1629	12	6	can	can	AUX
fcis-1629	12	7	take	take	VERB
fcis-1629	12	8	advantage	advantage	NOUN
fcis-1629	12	9	of	of	ADP
fcis-1629	12	10	multistride	multistride	NOUN
fcis-1629	12	11	by	by	ADP
fcis-1629	12	12	their	their	PRON
fcis-1629	12	13	region	region	NOUN
fcis-1629	12	14	of	of	ADP
fcis-1629	12	15	interest	interest	NOUN
fcis-1629	12	16	(	(	PUNCT
fcis-1629	12	17	roi	roi	NOUN
fcis-1629	12	18	)	)	PUNCT
fcis-1629	12	19	head	head	NOUN
fcis-1629	12	20	,	,	PUNCT
fcis-1629	12	21	they	they	PRON
fcis-1629	12	22	can	can	AUX
fcis-1629	12	23	usually	usually	ADV
fcis-1629	12	24	show	show	VERB
fcis-1629	12	25	better	well	ADJ
fcis-1629	12	26	accuracy	accuracy	NOUN
fcis-1629	12	27	in	in	ADP
fcis-1629	12	28	the	the	DET
fcis-1629	12	29	classification	classification	NOUN
fcis-1629	12	30	confidence	confidence	NOUN
fcis-1629	12	31	and	and	CCONJ
fcis-1629	12	32	the	the	DET
fcis-1629	12	33	box	box	NOUN
fcis-1629	12	34	regression	regression	NOUN
fcis-1629	12	35	than	than	ADP
fcis-1629	12	36	those	those	DET
fcis-1629	12	37	one	one	NUM
fcis-1629	12	38	-	-	PUNCT
fcis-1629	12	39	stage	stage	NOUN
fcis-1629	12	40	detectors	detector	NOUN
fcis-1629	12	41	.	.	PUNCT
fcis-1629	13	1	in	in	ADP
fcis-1629	13	2	these	these	DET
fcis-1629	13	3	twostage	twostage	NOUN
fcis-1629	13	4	methods	method	NOUN
fcis-1629	13	5	,	,	PUNCT
fcis-1629	13	6	their	their	PRON
fcis-1629	13	7	region	region	NOUN
fcis-1629	13	8	proposal	proposal	NOUN
fcis-1629	13	9	network	network	NOUN
fcis-1629	13	10	first	first	ADV
fcis-1629	13	11	provides	provide	VERB
fcis-1629	13	12	the	the	DET
fcis-1629	13	13	proposal	proposal	NOUN
fcis-1629	13	14	of	of	ADP
fcis-1629	13	15	bounding	bounding	NOUN
fcis-1629	13	16	boxes	box	NOUN
fcis-1629	13	17	.	.	PUNCT
fcis-1629	14	1	then	then	ADV
fcis-1629	14	2	,	,	PUNCT
fcis-1629	14	3	based	base	VERB
fcis-1629	14	4	on	on	ADP
fcis-1629	14	5	those	those	DET
fcis-1629	14	6	bounding	bounding	NOUN
fcis-1629	14	7	boxes	box	NOUN
fcis-1629	14	8	,	,	PUNCT
fcis-1629	14	9	the	the	DET
fcis-1629	14	10	roi	roi	NOUN
fcis-1629	14	11	head	head	NOUN
fcis-1629	14	12	will	will	AUX
fcis-1629	14	13	perform	perform	VERB
fcis-1629	14	14	the	the	DET
fcis-1629	14	15	roipooling	roipoole	VERB
fcis-1629	14	16	operation	operation	NOUN
fcis-1629	14	17	from	from	ADP
fcis-1629	14	18	the	the	DET
fcis-1629	14	19	original	original	ADJ
fcis-1629	14	20	point	point	NOUN
fcis-1629	14	21	cloud	cloud	NOUN
fcis-1629	14	22	and	and	CCONJ
fcis-1629	14	23	temporary	temporary	ADJ
fcis-1629	14	24	voxel	voxel	PROPN
fcis-1629	14	25	space	space	NOUN
fcis-1629	14	26	to	to	PART
fcis-1629	14	27	refine	refine	VERB
fcis-1629	14	28	those	those	DET
fcis-1629	14	29	provided	provide	VERB
fcis-1629	14	30	proposals	proposal	NOUN
fcis-1629	14	31	.	.	PUNCT
fcis-1629	15	1	through	through	ADP
fcis-1629	15	2	the	the	DET
fcis-1629	15	3	virtual	virtual	ADJ
fcis-1629	15	4	point	point	NOUN
fcis-1629	15	5	sampling	sample	VERB
fcis-1629	15	6	strategy	strategy	NOUN
fcis-1629	15	7	,	,	PUNCT
fcis-1629	15	8	these	these	DET
fcis-1629	15	9	roi	roi	NOUN
fcis-1629	15	10	heads	head	NOUN
fcis-1629	15	11	could	could	AUX
fcis-1629	15	12	learn	learn	VERB
fcis-1629	15	13	more	more	ADV
fcis-1629	15	14	valuable	valuable	ADJ
fcis-1629	15	15	geometry	geometry	NOUN
fcis-1629	15	16	information	information	NOUN
fcis-1629	15	17	from	from	ADP
fcis-1629	15	18	objects	object	NOUN
fcis-1629	15	19	far	far	ADV
fcis-1629	15	20	from	from	ADP
fcis-1629	15	21	the	the	DET
fcis-1629	15	22	lidar	lidar	NOUN
fcis-1629	15	23	sensors	sensor	NOUN
fcis-1629	15	24	or	or	CCONJ
fcis-1629	15	25	severe	severe	ADJ
fcis-1629	15	26	occlusion	occlusion	NOUN
fcis-1629	15	27	.	.	PUNCT
fcis-1629	16	1	however	however	ADV
fcis-1629	16	2	,	,	PUNCT
fcis-1629	16	3	the	the	DET
fcis-1629	16	4	computation	computation	NOUN
fcis-1629	16	5	brought	bring	VERB
fcis-1629	16	6	by	by	ADP
fcis-1629	16	7	these	these	DET
fcis-1629	16	8	roi	roi	NOUN
fcis-1629	16	9	heads	head	NOUN
fcis-1629	16	10	makes	make	VERB
fcis-1629	16	11	two	two	NUM
fcis-1629	16	12	-	-	PUNCT
fcis-1629	16	13	stage	stage	NOUN
fcis-1629	16	14	detectors	detector	NOUN
fcis-1629	16	15	challenging	challenge	VERB
fcis-1629	16	16	to	to	PART
fcis-1629	16	17	meet	meet	VERB
fcis-1629	16	18	the	the	DET
fcis-1629	16	19	real	real	ADJ
fcis-1629	16	20	-	-	PUNCT
fcis-1629	16	21	time	time	NOUN
fcis-1629	16	22	requirement	requirement	NOUN
fcis-1629	16	23	of	of	ADP
fcis-1629	16	24	the	the	DET
fcis-1629	16	25	autonomous	autonomous	ADJ
fcis-1629	16	26	driving	driving	NOUN
fcis-1629	16	27	scene	scene	NOUN
fcis-1629	16	28	.	.	PUNCT
fcis-1629	17	1	different	different	ADJ
fcis-1629	17	2	from	from	ADP
fcis-1629	17	3	the	the	DET
fcis-1629	17	4	two	two	NUM
fcis-1629	17	5	-	-	PUNCT
fcis-1629	17	6	stage	stage	NOUN
fcis-1629	17	7	detectors	detector	NOUN
fcis-1629	17	8	,	,	PUNCT
fcis-1629	17	9	one	one	NUM
fcis-1629	17	10	-	-	PUNCT
fcis-1629	17	11	stage	stage	NOUN
fcis-1629	17	12	detectors	detector	NOUN
fcis-1629	17	13	can	can	AUX
fcis-1629	17	14	usually	usually	ADV
fcis-1629	17	15	achieve	achieve	VERB
fcis-1629	17	16	better	well	ADJ
fcis-1629	17	17	speeds	speed	NOUN
fcis-1629	17	18	.	.	PUNCT
fcis-1629	18	1	as	as	SCONJ
fcis-1629	18	2	the	the	DET
fcis-1629	18	3	size	size	NOUN
fcis-1629	18	4	of	of	ADP
fcis-1629	18	5	objects	object	NOUN
fcis-1629	18	6	is	be	AUX
fcis-1629	18	7	invariant	invariant	ADJ
fcis-1629	18	8	in	in	ADP
fcis-1629	18	9	the	the	DET
fcis-1629	18	10	3d	3d	NUM
fcis-1629	18	11	scene	scene	NOUN
fcis-1629	18	12	,	,	PUNCT
fcis-1629	18	13	one	one	NUM
fcis-1629	18	14	-	-	PUNCT
fcis-1629	18	15	stage	stage	NOUN
fcis-1629	18	16	3d	3d	NUM
fcis-1629	18	17	detectors	detector	NOUN
fcis-1629	18	18	usually	usually	ADV
fcis-1629	18	19	do	do	AUX
fcis-1629	18	20	not	not	PART
fcis-1629	18	21	concern	concern	VERB
fcis-1629	18	22	the	the	DET
fcis-1629	18	23	pyramid	pyramid	NOUN
fcis-1629	18	24	features	feature	VERB
fcis-1629	18	25	.	.	PUNCT
fcis-1629	19	1	yet	yet	ADV
fcis-1629	19	2	,	,	PUNCT
fcis-1629	19	3	some	some	DET
fcis-1629	19	4	current	current	ADJ
fcis-1629	19	5	works	work	NOUN
fcis-1629	19	6	on	on	ADP
fcis-1629	19	7	2d	2d	NUM
fcis-1629	19	8	tiny	tiny	ADJ
fcis-1629	19	9	object	object	NOUN
fcis-1629	19	10	detection	detection	NOUN
fcis-1629	19	11	show	show	VERB
fcis-1629	19	12	that	that	SCONJ
fcis-1629	19	13	pyramid	pyramid	NOUN
fcis-1629	19	14	features	feature	NOUN
fcis-1629	19	15	can	can	AUX
fcis-1629	19	16	help	help	VERB
fcis-1629	19	17	the	the	DET
fcis-1629	19	18	detectors	detector	NOUN
fcis-1629	19	19	perceive	perceive	VERB
fcis-1629	19	20	the	the	DET
fcis-1629	19	21	difference	difference	NOUN
fcis-1629	19	22	between	between	ADP
fcis-1629	19	23	local	local	ADJ
fcis-1629	19	24	and	and	CCONJ
fcis-1629	19	25	global	global	ADJ
fcis-1629	19	26	tiny	tiny	ADJ
fcis-1629	19	27	objects	object	NOUN
fcis-1629	19	28	,	,	PUNCT
fcis-1629	19	29	thus	thus	ADV
fcis-1629	19	30	helping	help	VERB
fcis-1629	19	31	these	these	DET
fcis-1629	19	32	detectors	detector	NOUN
fcis-1629	19	33	achieve	achieve	VERB
fcis-1629	19	34	better	well	ADJ
fcis-1629	19	35	accuracy	accuracy	NOUN
fcis-1629	19	36	.	.	PUNCT
fcis-1629	20	1	this	this	PRON
fcis-1629	20	2	can	can	AUX
fcis-1629	20	3	prove	prove	VERB
fcis-1629	20	4	that	that	SCONJ
fcis-1629	20	5	their	their	PRON
fcis-1629	20	6	carelessness	carelessness	NOUN
fcis-1629	20	7	causes	cause	VERB
fcis-1629	20	8	poor	poor	ADJ
fcis-1629	20	9	performance	performance	NOUN
fcis-1629	20	10	on	on	ADP
fcis-1629	20	11	small	small	ADJ
fcis-1629	20	12	-	-	PUNCT
fcis-1629	20	13	size	size	NOUN
fcis-1629	20	14	objects	object	NOUN
fcis-1629	20	15	of	of	ADP
fcis-1629	20	16	one	one	NUM
fcis-1629	20	17	-	-	PUNCT
fcis-1629	20	18	stage	stage	NOUN
fcis-1629	20	19	3d	3d	NUM
fcis-1629	20	20	detectors	detector	NOUN
fcis-1629	20	21	with	with	ADP
fcis-1629	20	22	pyramid	pyramid	NOUN
fcis-1629	20	23	features	feature	NOUN
fcis-1629	20	24	.	.	PUNCT
fcis-1629	21	1	this	this	PRON
fcis-1629	21	2	motivates	motivate	VERB
fcis-1629	21	3	us	we	PRON
fcis-1629	21	4	to	to	PART
fcis-1629	21	5	design	design	VERB
fcis-1629	21	6	a	a	DET
fcis-1629	21	7	one	one	NUM
fcis-1629	21	8	-	-	PUNCT
fcis-1629	21	9	stage	stage	NOUN
fcis-1629	21	10	3d	3d	NUM
fcis-1629	21	11	detector	detector	NOUN
fcis-1629	21	12	to	to	PART
fcis-1629	21	13	pay	pay	VERB
fcis-1629	21	14	more	more	ADJ
fcis-1629	21	15	attention	attention	NOUN
fcis-1629	21	16	to	to	ADP
fcis-1629	21	17	those	those	DET
fcis-1629	21	18	pyramid	pyramid	NOUN
fcis-1629	21	19	features	feature	NOUN
fcis-1629	21	20	.	.	PUNCT
fcis-1629	22	1	this	this	DET
fcis-1629	22	2	paper	paper	NOUN
fcis-1629	22	3	presents	present	VERB
fcis-1629	22	4	a	a	DET
fcis-1629	22	5	one	one	NUM
fcis-1629	22	6	-	-	PUNCT
fcis-1629	22	7	stage	stage	NOUN
fcis-1629	22	8	object	object	NOUN
fcis-1629	22	9	detection	detection	NOUN
fcis-1629	22	10	framework	framework	NOUN
fcis-1629	22	11	consisting	consist	VERB
fcis-1629	22	12	of	of	ADP
fcis-1629	22	13	a	a	DET
fcis-1629	22	14	fast	fast	ADJ
fcis-1629	22	15	version	version	NOUN
fcis-1629	22	16	transformer	transformer	NOUN
fcis-1629	22	17	3d	3d	NUM
fcis-1629	22	18	encoder	encoder	NOUN
fcis-1629	22	19	and	and	CCONJ
fcis-1629	22	20	a	a	DET
fcis-1629	22	21	multi	multi	ADJ
fcis-1629	22	22	-	-	ADJ
fcis-1629	22	23	stage	stage	ADJ
fcis-1629	22	24	transformer	transformer	NOUN
fcis-1629	22	25	decoder	decoder	NOUN
fcis-1629	22	26	module	module	NOUN
fcis-1629	22	27	.	.	PUNCT
fcis-1629	23	1	then	then	ADV
fcis-1629	23	2	a	a	DET
fcis-1629	23	3	anchor	anchor	NOUN
fcis-1629	23	4	-	-	PUNCT
fcis-1629	23	5	free	free	ADJ
fcis-1629	23	6	centerpoint	centerpoint	PROPN
fcis-1629	23	7	head	head	NOUN
fcis-1629	23	8	is	be	AUX
fcis-1629	23	9	adopt	adopt	ADJ
fcis-1629	23	10	to	to	PART
fcis-1629	23	11	prediction	prediction	VERB
fcis-1629	23	12	the	the	DET
fcis-1629	23	13	final	final	ADJ
fcis-1629	23	14	bounding	bounding	NOUN
fcis-1629	23	15	box	box	NOUN
fcis-1629	23	16	prediction	prediction	NOUN
fcis-1629	23	17	.	.	PUNCT
fcis-1629	24	1	in	in	ADP
fcis-1629	24	2	the	the	DET
fcis-1629	24	3	proposed	propose	VERB
fcis-1629	24	4	fast	fast	ADJ
fcis-1629	24	5	version	version	NOUN
fcis-1629	24	6	transformer	transformer	NOUN
fcis-1629	24	7	3d	3d	NUM
fcis-1629	24	8	encoder	encoder	NOUN
fcis-1629	24	9	blocks	block	NOUN
fcis-1629	24	10	,	,	PUNCT
fcis-1629	24	11	there	there	PRON
fcis-1629	24	12	is	be	VERB
fcis-1629	24	13	a	a	DET
fcis-1629	24	14	fast	fast	ADJ
fcis-1629	24	15	version	version	NOUN
fcis-1629	24	16	multi	multi	ADJ
fcis-1629	24	17	-	-	ADJ
fcis-1629	24	18	head	head	ADJ
fcis-1629	24	19	selfattention	selfattention	NOUN
fcis-1629	24	20	has	have	AUX
fcis-1629	24	21	been	be	AUX
fcis-1629	24	22	deployed	deploy	VERB
fcis-1629	24	23	.	.	PUNCT
fcis-1629	25	1	to	to	PART
fcis-1629	25	2	help	help	VERB
fcis-1629	25	3	the	the	DET
fcis-1629	25	4	proposed	propose	VERB
fcis-1629	25	5	3d	3d	NUM
fcis-1629	25	6	detector	detector	NOUN
fcis-1629	25	7	achieve	achieve	VERB
fcis-1629	25	8	better	well	ADJ
fcis-1629	25	9	performance	performance	NOUN
fcis-1629	25	10	,	,	PUNCT
fcis-1629	25	11	we	we	PRON
fcis-1629	25	12	have	have	VERB
fcis-1629	25	13	desin	desin	NOUN
fcis-1629	25	14	the	the	DET
fcis-1629	25	15	multi	multi	ADJ
fcis-1629	25	16	-	-	ADJ
fcis-1629	25	17	stage	stage	ADJ
fcis-1629	25	18	transformer	transformer	NOUN
fcis-1629	25	19	3d	3d	NUM
fcis-1629	25	20	decoder	decoder	NOUN
fcis-1629	25	21	module	module	NOUN
fcis-1629	25	22	,	,	PUNCT
fcis-1629	25	23	which	which	PRON
fcis-1629	25	24	was	be	AUX
fcis-1629	25	25	consisted	consist	VERB
fcis-1629	25	26	of	of	ADP
fcis-1629	25	27	fast	fast	ADJ
fcis-1629	25	28	version	version	NOUN
fcis-1629	25	29	transformer	transformer	NOUN
fcis-1629	25	30	decoder	decoder	NOUN
fcis-1629	25	31	blocks	block	NOUN
fcis-1629	25	32	.	.	PUNCT
fcis-1629	26	1	the	the	DET
fcis-1629	26	2	proposed	propose	VERB
fcis-1629	26	3	multistage	multistage	NOUN
fcis-1629	26	4	transformer	transformer	NOUN
fcis-1629	26	5	decoder	decoder	NOUN
fcis-1629	26	6	module	module	NOUN
fcis-1629	26	7	will	will	AUX
fcis-1629	26	8	collect	collect	VERB
fcis-1629	26	9	the	the	DET
fcis-1629	26	10	multi	multi	ADJ
fcis-1629	26	11	-	-	ADJ
fcis-1629	26	12	stride	stride	ADJ
fcis-1629	26	13	information	information	NOUN
fcis-1629	26	14	from	from	ADP
fcis-1629	26	15	the	the	DET
fcis-1629	26	16	temporal	temporal	ADJ
fcis-1629	26	17	output	output	NOUN
fcis-1629	26	18	of	of	ADP
fcis-1629	26	19	transformer	transformer	NOUN
fcis-1629	26	20	3d	3d	NUM
fcis-1629	26	21	encoder	encoder	NOUN
fcis-1629	26	22	.	.	PUNCT
fcis-1629	27	1	extensive	extensive	ADJ
fcis-1629	27	2	experiments	experiment	NOUN
fcis-1629	27	3	constructed	construct	VERB
fcis-1629	27	4	on	on	ADP
fcis-1629	27	5	kitti	kitti	PROPN
fcis-1629	27	6	and	and	CCONJ
fcis-1629	27	7	waymo	waymo	ADJ
fcis-1629	27	8	open	open	ADJ
fcis-1629	27	9	datasets	dataset	NOUN
fcis-1629	27	10	show	show	VERB
fcis-1629	27	11	that	that	SCONJ
fcis-1629	27	12	our	our	PRON
fcis-1629	27	13	proposed	propose	VERB
fcis-1629	27	14	methods	method	NOUN
fcis-1629	27	15	can	can	AUX
fcis-1629	27	16	better	well	ADV
fcis-1629	27	17	balance	balance	VERB
fcis-1629	27	18	speed	speed	NOUN
fcis-1629	27	19	and	and	CCONJ
fcis-1629	27	20	accuracy	accuracy	NOUN
fcis-1629	27	21	.	.	PUNCT
fcis-1629	28	1	in	in	ADP
fcis-1629	28	2	summary	summary	NOUN
fcis-1629	28	3	,	,	PUNCT
fcis-1629	28	4	we	we	PRON
fcis-1629	28	5	make	make	VERB
fcis-1629	28	6	three	three	NUM
fcis-1629	28	7	-	-	ADJ
fcis-1629	28	8	fold	fold	ADJ
fcis-1629	28	9	contribution	contribution	NOUN
fcis-1629	28	10	:	:	PUNCT
fcis-1629	28	11	we	we	PRON
fcis-1629	28	12	have	have	AUX
fcis-1629	28	13	proposed	propose	VERB
fcis-1629	28	14	a	a	DET
fcis-1629	28	15	one	one	NUM
fcis-1629	28	16	-	-	PUNCT
fcis-1629	28	17	stage	stage	NOUN
fcis-1629	28	18	3d	3d	NUM
fcis-1629	28	19	object	object	NOUN
fcis-1629	28	20	detector	detector	NOUN
fcis-1629	28	21	,	,	PUNCT
fcis-1629	28	22	which	which	PRON
fcis-1629	28	23	uses	use	VERB
fcis-1629	28	24	the	the	DET
fcis-1629	28	25	multi	multi	ADJ
fcis-1629	28	26	-	-	ADJ
fcis-1629	28	27	stride	stride	ADJ
fcis-1629	28	28	residual	residual	ADJ
fcis-1629	28	29	3d	3d	NOUN
fcis-1629	28	30	backbone	backbone	NOUN
fcis-1629	28	31	and	and	CCONJ
fcis-1629	28	32	the	the	DET
fcis-1629	28	33	path	path	NOUN
fcis-1629	28	34	aggregation	aggregation	NOUN
fcis-1629	28	35	2d	2d	PROPN
fcis-1629	28	36	backbones	backbone	VERB
fcis-1629	28	37	to	to	PART
fcis-1629	28	38	help	help	VERB
fcis-1629	28	39	the	the	DET
fcis-1629	28	40	detector	detector	NOUN
fcis-1629	28	41	make	make	VERB
fcis-1629	28	42	great	great	ADJ
fcis-1629	28	43	use	use	NOUN
fcis-1629	28	44	of	of	ADP
fcis-1629	28	45	pyramid	pyramid	NOUN
fcis-1629	28	46	features	feature	NOUN
fcis-1629	28	47	.	.	PUNCT
fcis-1629	29	1	we	we	PRON
fcis-1629	29	2	design	design	VERB
fcis-1629	29	3	a	a	DET
fcis-1629	29	4	voxel	voxel	ADJ
fcis-1629	29	5	-	-	PUNCT
fcis-1629	29	6	level	level	NOUN
fcis-1629	29	7	auxiliary	auxiliary	ADJ
fcis-1629	29	8	network	network	NOUN
fcis-1629	29	9	,	,	PUNCT
fcis-1629	29	10	which	which	PRON
fcis-1629	29	11	removes	remove	VERB
fcis-1629	29	12	the	the	DET
fcis-1629	29	13	need	need	NOUN
fcis-1629	29	14	for	for	ADP
fcis-1629	29	15	voxel	voxel	NOUN
fcis-1629	29	16	-	-	PUNCT
fcis-1629	29	17	to	to	ADP
fcis-1629	29	18	-	-	PUNCT
fcis-1629	29	19	point	point	NOUN
fcis-1629	29	20	operations	operation	NOUN
fcis-1629	29	21	and	and	CCONJ
fcis-1629	29	22	achieves	achieve	VERB
fcis-1629	29	23	a	a	DET
fcis-1629	29	24	better	well	ADJ
fcis-1629	29	25	generality	generality	NOUN
fcis-1629	29	26	.	.	PUNCT
fcis-1629	30	1	we	we	PRON
fcis-1629	30	2	conduct	conduct	VERB
fcis-1629	30	3	extensive	extensive	ADJ
fcis-1629	30	4	experiments	experiment	NOUN
fcis-1629	30	5	on	on	ADP
fcis-1629	30	6	both	both	PRON
fcis-1629	30	7	kitti	kitti	PROPN
fcis-1629	30	8	dataset	dataset	NOUN
fcis-1629	30	9	and	and	CCONJ
fcis-1629	30	10	waymo	waymo	ADJ
fcis-1629	30	11	open	open	ADJ
fcis-1629	30	12	dataset	dataset	NOUN
fcis-1629	30	13	.	.	PUNCT
fcis-1629	31	1	its	its	PRON
fcis-1629	31	2	results	result	NOUN
fcis-1629	31	3	show	show	VERB
fcis-1629	31	4	that	that	SCONJ
fcis-1629	31	5	our	our	PRON
fcis-1629	31	6	methods	method	NOUN
fcis-1629	31	7	could	could	AUX
fcis-1629	31	8	achieve	achieve	VERB
fcis-1629	31	9	a	a	DET
fcis-1629	31	10	great	great	ADJ
fcis-1629	31	11	balance	balance	NOUN
fcis-1629	31	12	between	between	ADP
fcis-1629	31	13	accuracy	accuracy	NOUN
fcis-1629	31	14	and	and	CCONJ
fcis-1629	31	15	computation	computation	NOUN
fcis-1629	31	16	cost	cost	NOUN
fcis-1629	31	17	.	.	PUNCT
fcis-1629	32	1	2	2	X
fcis-1629	32	2	.	.	X
fcis-1629	32	3	methods	method	NOUN
fcis-1629	32	4	in	in	ADP
fcis-1629	32	5	this	this	DET
fcis-1629	32	6	section	section	NOUN
fcis-1629	32	7	,	,	PUNCT
fcis-1629	32	8	we	we	PRON
fcis-1629	32	9	first	first	ADV
fcis-1629	32	10	present	present	VERB
fcis-1629	32	11	the	the	DET
fcis-1629	32	12	multi	multi	ADJ
fcis-1629	32	13	-	-	ADJ
fcis-1629	32	14	path	path	ADJ
fcis-1629	32	15	transformer	transformer	NOUN
fcis-1629	32	16	3d	3d	NUM
fcis-1629	32	17	encoder	encoder	NOUN
fcis-1629	32	18	.	.	PUNCT
fcis-1629	33	1	then	then	ADV
fcis-1629	33	2	,	,	PUNCT
fcis-1629	33	3	a	a	DET
fcis-1629	33	4	transformer	transformer	NOUN
fcis-1629	33	5	decoder	decoder	NOUN
fcis-1629	33	6	will	will	AUX
fcis-1629	33	7	be	be	AUX
fcis-1629	33	8	introducing	introduce	VERB
fcis-1629	33	9	to	to	PART
fcis-1629	33	10	integrate	integrate	VERB
fcis-1629	33	11	multi	multi	ADJ
fcis-1629	33	12	-	-	ADJ
fcis-1629	33	13	stage	stage	ADJ
fcis-1629	33	14	information	information	NOUN
fcis-1629	33	15	from	from	ADP
fcis-1629	33	16	3d	3d	NUM
fcis-1629	33	17	encoder	encoder	NOUN
fcis-1629	33	18	.	.	PUNCT
fcis-1629	34	1	2.1	2.1	NUM
fcis-1629	34	2	.	.	PUNCT
fcis-1629	35	1	fast	fast	ADJ
fcis-1629	35	2	transformer	transformer	NOUN
fcis-1629	35	3	3d	3d	NOUN
fcis-1629	35	4	encoder	encoder	NOUN
fcis-1629	35	5	let	let	VERB
fcis-1629	35	6	𝑃	𝑃	VERB
fcis-1629	35	7	=	=	SYM
fcis-1629	35	8	{	{	PUNCT
fcis-1629	35	9	𝑝1	𝑝1	NOUN
fcis-1629	35	10	,	,	PUNCT
fcis-1629	35	11	𝑝2	𝑝2	NOUN
fcis-1629	35	12	,	,	PUNCT
fcis-1629	35	13	𝑝3	𝑝3	ADV
fcis-1629	35	14	,	,	PUNCT
fcis-1629	35	15	…	…	PUNCT
fcis-1629	35	16	,	,	PUNCT
fcis-1629	35	17	𝑝𝑛	𝑝𝑛	PROPN
fcis-1629	35	18	}	}	PUNCT
fcis-1629	35	19	denote	denote	VERB
fcis-1629	35	20	a	a	DET
fcis-1629	35	21	frame	frame	NOUN
fcis-1629	35	22	point	point	NOUN
fcis-1629	35	23	input	input	NOUN
fcis-1629	35	24	sequence	sequence	NOUN
fcis-1629	35	25	,	,	PUNCT
fcis-1629	35	26	where	where	SCONJ
fcis-1629	35	27	𝑝𝑖	𝑝𝑖	NOUN
fcis-1629	35	28	=	=	SYM
fcis-1629	35	29	(	(	PUNCT
fcis-1629	35	30	𝑥𝑖	𝑥𝑖	PROPN
fcis-1629	35	31	,	,	PUNCT
fcis-1629	35	32	𝑦𝑖	𝑦𝑖	PROPN
fcis-1629	35	33	,	,	PUNCT
fcis-1629	35	34	𝑧𝑖	𝑧𝑖	INTJ
fcis-1629	35	35	,	,	PUNCT
fcis-1629	35	36	𝑟𝑖	𝑟𝑖	PART
fcis-1629	35	37	)	)	PUNCT
fcis-1629	35	38	denotes	denote	VERB
fcis-1629	35	39	the	the	DET
fcis-1629	35	40	i	i	PROPN
fcis-1629	35	41	-	-	PUNCT
fcis-1629	35	42	th	th	VERB
fcis-1629	35	43	point	point	NOUN
fcis-1629	35	44	.	.	PUNCT
fcis-1629	36	1	to	to	PART
fcis-1629	36	2	save	save	VERB
fcis-1629	36	3	computation	computation	NOUN
fcis-1629	36	4	,	,	PUNCT
fcis-1629	36	5	we	we	PRON
fcis-1629	36	6	first	first	ADV
fcis-1629	36	7	subdivide	subdivide	VERB
fcis-1629	36	8	the	the	DET
fcis-1629	36	9	3d	3d	NUM
fcis-1629	36	10	space	space	NOUN
fcis-1629	36	11	into	into	ADP
fcis-1629	36	12	equally	equally	ADV
fcis-1629	36	13	spaced	space	VERB
fcis-1629	36	14	voxels	voxel	NOUN
fcis-1629	36	15	.	.	PUNCT
fcis-1629	37	1	let	let	VERB
fcis-1629	37	2	's	us	PRON
fcis-1629	37	3	define	define	VERB
fcis-1629	37	4	the	the	DET
fcis-1629	37	5	voxelized	voxelize	VERB
fcis-1629	37	6	point	point	NOUN
fcis-1629	37	7	cloud	cloud	NOUN
fcis-1629	37	8	sequence	sequence	NOUN
fcis-1629	37	9	𝑃	𝑃	NOUN
fcis-1629	37	10	as	as	ADP
fcis-1629	37	11	𝑉	𝑉	PROPN
fcis-1629	37	12	=	=	SYM
fcis-1629	37	13	{	{	PUNCT
fcis-1629	37	14	𝑣1	𝑣1	PROPN
fcis-1629	37	15	,	,	PUNCT
fcis-1629	37	16	𝑣2	𝑣2	PROPN
fcis-1629	37	17	,	,	PUNCT
fcis-1629	37	18	𝑣3	𝑣3	ADJ
fcis-1629	37	19	,	,	PUNCT
fcis-1629	37	20	…	…	PUNCT
fcis-1629	37	21	,	,	PUNCT
fcis-1629	37	22	𝑣𝑛	𝑣𝑛	ADP
fcis-1629	37	23	}	}	PUNCT
fcis-1629	37	24	where	where	SCONJ
fcis-1629	37	25	𝑣𝑖	𝑣𝑖	ADV
fcis-1629	37	26	=	=	SYM
fcis-1629	37	27	(	(	PUNCT
fcis-1629	37	28	𝑐𝑖	𝑐𝑖	PROPN
fcis-1629	37	29	,	,	PUNCT
fcis-1629	37	30	𝑑𝑖	𝑑𝑖	PART
fcis-1629	37	31	)	)	PUNCT
fcis-1629	37	32	represent	represent	VERB
fcis-1629	37	33	a	a	DET
fcis-1629	37	34	voxelized	voxelized	ADJ
fcis-1629	37	35	point	point	NOUN
fcis-1629	37	36	cloud	cloud	NOUN
fcis-1629	37	37	.	.	PUNCT
fcis-1629	38	1	the	the	DET
fcis-1629	38	2	𝑑𝑖	𝑑𝑖	X
fcis-1629	38	3	=	=	PRON
fcis-1629	38	4	(	(	PUNCT
fcis-1629	38	5	𝑟𝑖	𝑟𝑖	X
fcis-1629	38	6	,	,	PUNCT
fcis-1629	38	7	𝑥𝑖	𝑥𝑖	PROPN
fcis-1629	38	8	−	−	ADV
fcis-1629	38	9	𝑥𝑐𝑖	𝑥𝑐𝑖	NOUN
fcis-1629	38	10	,	,	PUNCT
fcis-1629	38	11	𝑦𝑖	𝑦𝑖	PROPN
fcis-1629	38	12	−	−	PROPN
fcis-1629	38	13	𝑦𝑐𝑖	𝑦𝑐𝑖	NOUN
fcis-1629	38	14	,	,	PUNCT
fcis-1629	38	15	𝑧𝑖	𝑧𝑖	CCONJ
fcis-1629	38	16	−	−	PROPN
fcis-1629	38	17	𝑧𝑐𝑖	𝑧𝑐𝑖	NOUN
fcis-1629	38	18	)	)	PUNCT
fcis-1629	38	19	denote	denote	VERB
fcis-1629	38	20	the	the	DET
fcis-1629	38	21	feature	feature	NOUN
fcis-1629	38	22	vector	vector	NOUN
fcis-1629	38	23	for	for	ADP
fcis-1629	38	24	point	point	NOUN
fcis-1629	38	25	𝑝𝑖	𝑝𝑖	NOUN
fcis-1629	38	26	and	and	CCONJ
fcis-1629	38	27	𝑐𝑖	𝑐𝑖	NOUN
fcis-1629	38	28	denote	denote	VERB
fcis-1629	38	29	the	the	DET
fcis-1629	38	30	centriod	centriod	NOUN
fcis-1629	38	31	of	of	ADP
fcis-1629	38	32	voxel	voxel	PROPN
fcis-1629	38	33	cells	cell	NOUN
fcis-1629	38	34	.	.	PUNCT
fcis-1629	39	1	as	as	SCONJ
fcis-1629	39	2	the	the	DET
fcis-1629	39	3	transformer	transformer	NOUN
fcis-1629	39	4	block	block	NOUN
fcis-1629	39	5	do	do	AUX
fcis-1629	39	6	not	not	PART
fcis-1629	39	7	concern	concern	VERB
fcis-1629	39	8	the	the	DET
fcis-1629	39	9	position	position	NOUN
fcis-1629	39	10	information	information	NOUN
fcis-1629	39	11	about	about	ADP
fcis-1629	39	12	input	input	NOUN
fcis-1629	39	13	point	point	NOUN
fcis-1629	39	14	cloud	cloud	NOUN
fcis-1629	39	15	sequence	sequence	NOUN
fcis-1629	39	16	,	,	PUNCT
fcis-1629	39	17	we	we	PRON
fcis-1629	39	18	should	should	AUX
fcis-1629	39	19	adopt	adopt	VERB
fcis-1629	39	20	a	a	DET
fcis-1629	39	21	position	position	NOUN
fcis-1629	39	22	embedding	embed	VERB
fcis-1629	39	23	for	for	ADP
fcis-1629	39	24	them	they	PRON
fcis-1629	39	25	.	.	PUNCT
fcis-1629	40	1	as	as	SCONJ
fcis-1629	40	2	mentioned	mention	VERB
fcis-1629	40	3	in	in	ADP
fcis-1629	40	4	[	[	X
fcis-1629	40	5	]	]	X
fcis-1629	40	6	,	,	PUNCT
fcis-1629	40	7	the	the	DET
fcis-1629	40	8	fourier	fourier	NOUN
fcis-1629	40	9	position	position	NOUN
fcis-1629	40	10	can	can	AUX
fcis-1629	40	11	help	help	VERB
fcis-1629	40	12	deep	deep	ADJ
fcis-1629	40	13	learning	learning	NOUN
fcis-1629	40	14	module	module	NOUN
fcis-1629	40	15	learn	learn	VERB
fcis-1629	40	16	the	the	DET
fcis-1629	40	17	high	high	ADJ
fcis-1629	40	18	-	-	PUNCT
fcis-1629	40	19	dimension	dimension	NOUN
fcis-1629	40	20	texture	texture	NOUN
fcis-1629	40	21	information	information	NOUN
fcis-1629	40	22	in	in	ADP
fcis-1629	40	23	a	a	DET
fcis-1629	40	24	low	low	ADJ
fcis-1629	40	25	-	-	PUNCT
fcis-1629	40	26	dimension	dimension	NOUN
fcis-1629	40	27	feature	feature	NOUN
fcis-1629	40	28	space	space	NOUN
fcis-1629	40	29	.	.	PUNCT
fcis-1629	41	1	in	in	ADP
fcis-1629	41	2	this	this	DET
fcis-1629	41	3	paper	paper	NOUN
fcis-1629	41	4	,	,	PUNCT
fcis-1629	41	5	28	28	NUM
fcis-1629	41	6	we	we	PRON
fcis-1629	41	7	adopt	adopt	VERB
fcis-1629	41	8	this	this	DET
fcis-1629	41	9	fourier	fourier	NOUN
fcis-1629	41	10	position	position	NOUN
fcis-1629	41	11	embedding	embed	VERB
fcis-1629	41	12	method	method	NOUN
fcis-1629	41	13	to	to	PART
fcis-1629	41	14	help	help	VERB
fcis-1629	41	15	our	our	PRON
fcis-1629	41	16	transformer	transformer	NOUN
fcis-1629	41	17	module	module	NOUN
fcis-1629	41	18	to	to	PART
fcis-1629	41	19	efficiently	efficiently	ADV
fcis-1629	41	20	learn	learn	VERB
fcis-1629	41	21	high	high	ADJ
fcis-1629	41	22	-	-	PUNCT
fcis-1629	41	23	dimension	dimension	NOUN
fcis-1629	41	24	information	information	NOUN
fcis-1629	41	25	.	.	PUNCT
fcis-1629	42	1	for	for	ADP
fcis-1629	42	2	a	a	DET
fcis-1629	42	3	give	give	NOUN
fcis-1629	42	4	point	point	NOUN
fcis-1629	42	5	$	$	SYM
fcis-1629	42	6	p_i$	p_i$	NOUN
fcis-1629	42	7	,	,	PUNCT
fcis-1629	42	8	the	the	DET
fcis-1629	42	9	position	position	NOUN
fcis-1629	42	10	embedding	embed	VERB
fcis-1629	42	11	process	process	NOUN
fcis-1629	42	12	can	can	AUX
fcis-1629	42	13	be	be	AUX
fcis-1629	42	14	described	describe	VERB
fcis-1629	42	15	as	as	ADP
fcis-1629	42	16	:	:	PUNCT
fcis-1629	42	17	γ𝑖	γ𝑖	X
fcis-1629	42	18	=	=	SYM
fcis-1629	43	1	[	[	X
fcis-1629	43	2	𝑐𝑜𝑠(2πσ𝑖/𝑛𝑝𝑖	𝑐𝑜𝑠(2πσ𝑖/𝑛𝑝𝑖	X
fcis-1629	43	3	)	)	PUNCT
fcis-1629	43	4	,	,	PUNCT
fcis-1629	43	5	𝑠𝑖𝑛(2πσ	𝑠𝑖𝑛(2πσ	PROPN
fcis-1629	43	6	𝑖/𝑛𝑝𝑖	𝑖/𝑛𝑝𝑖	NUM
fcis-1629	43	7	)	)	PUNCT
fcis-1629	43	8	]	]	PUNCT
fcis-1629	44	1	(	(	PUNCT
fcis-1629	44	2	1	1	X
fcis-1629	44	3	)	)	PUNCT
fcis-1629	44	4	then	then	ADV
fcis-1629	44	5	,	,	PUNCT
fcis-1629	44	6	we	we	PRON
fcis-1629	44	7	will	will	AUX
fcis-1629	44	8	concat	concat	VERB
fcis-1629	44	9	the	the	DET
fcis-1629	44	10	fourier	fourier	ADJ
fcis-1629	44	11	position	position	NOUN
fcis-1629	44	12	vector	vector	NOUN
fcis-1629	44	13	with	with	ADP
fcis-1629	44	14	the	the	DET
fcis-1629	44	15	vector	vector	NOUN
fcis-1629	44	16	feature	feature	NOUN
fcis-1629	44	17	to	to	PART
fcis-1629	44	18	get	get	VERB
fcis-1629	44	19	the	the	DET
fcis-1629	44	20	input	input	NOUN
fcis-1629	44	21	feature	feature	NOUN
fcis-1629	44	22	vector	vector	NOUN
fcis-1629	44	23	set	set	VERB
fcis-1629	44	24	$	$	SYM
fcis-1629	44	25	f$.	f$.	NOUN
fcis-1629	44	26	with	with	ADP
fcis-1629	44	27	these	these	DET
fcis-1629	44	28	embedded	embed	VERB
fcis-1629	44	29	feature	feature	NOUN
fcis-1629	44	30	sequences	sequence	NOUN
fcis-1629	44	31	$	$	SYM
fcis-1629	44	32	f$	f$	NOUN
fcis-1629	44	33	and	and	CCONJ
fcis-1629	44	34	position	position	VERB
fcis-1629	44	35	$	$	SYM
fcis-1629	44	36	v$	v$	NOUN
fcis-1629	44	37	,	,	PUNCT
fcis-1629	44	38	the	the	DET
fcis-1629	44	39	proposed	propose	VERB
fcis-1629	44	40	fast	fast	ADJ
fcis-1629	44	41	transformer	transformer	NOUN
fcis-1629	44	42	3d	3d	NUM
fcis-1629	44	43	encoder	encoder	NOUN
fcis-1629	44	44	will	will	AUX
fcis-1629	44	45	be	be	AUX
fcis-1629	44	46	used	use	VERB
fcis-1629	44	47	to	to	PART
fcis-1629	44	48	extract	extract	VERB
fcis-1629	44	49	the	the	DET
fcis-1629	44	50	abstract	abstract	ADJ
fcis-1629	44	51	semantic	semantic	ADJ
fcis-1629	44	52	feature	feature	NOUN
fcis-1629	44	53	.	.	PUNCT
fcis-1629	45	1	as	as	SCONJ
fcis-1629	45	2	shown	show	VERB
fcis-1629	45	3	in	in	ADP
fcis-1629	45	4	fig	fig	NOUN
fcis-1629	45	5	.	.	PUNCT
fcis-1629	46	1	1	1	NUM
fcis-1629	46	2	,	,	PUNCT
fcis-1629	46	3	our	our	PRON
fcis-1629	46	4	fast	fast	ADJ
fcis-1629	46	5	transformer	transformer	NOUN
fcis-1629	46	6	3d	3d	NOUN
fcis-1629	46	7	encoder	encoder	NOUN
fcis-1629	46	8	consisted	consist	VERB
fcis-1629	46	9	by	by	ADP
fcis-1629	46	10	a	a	DET
fcis-1629	46	11	voxel	voxel	PROPN
fcis-1629	46	12	level	level	NOUN
fcis-1629	46	13	group	group	NOUN
fcis-1629	46	14	block	block	NOUN
fcis-1629	46	15	and	and	CCONJ
fcis-1629	46	16	a	a	DET
fcis-1629	46	17	transformer	transformer	NOUN
fcis-1629	46	18	encoder	encoder	NOUN
fcis-1629	46	19	block	block	NOUN
fcis-1629	46	20	.	.	PUNCT
fcis-1629	47	1	the	the	DET
fcis-1629	47	2	transformer	transformer	NOUN
fcis-1629	47	3	block	block	NOUN
fcis-1629	47	4	can	can	AUX
fcis-1629	47	5	be	be	AUX
fcis-1629	47	6	described	describe	VERB
fcis-1629	47	7	as	as	ADP
fcis-1629	47	8	follow	follow	NOUN
fcis-1629	47	9	:	:	PUNCT
fcis-1629	47	10	𝐹𝑙−1̂	𝐹𝑙−1̂	NUM
fcis-1629	47	11	=	=	SYM
fcis-1629	47	12	𝐹𝑀𝑆𝐴(𝐿𝑁(𝐺𝐸𝐿𝑈(𝐹𝑙−1	𝐹𝑀𝑆𝐴(𝐿𝑁(𝐺𝐸𝐿𝑈(𝐹𝑙−1	X
fcis-1629	47	13	)	)	PUNCT
fcis-1629	47	14	)	)	PUNCT
fcis-1629	47	15	)	)	PUNCT
fcis-1629	48	1	+	+	CCONJ
fcis-1629	48	2	𝐹𝑙−1	𝐹𝑙−1	NUM
fcis-1629	48	3	𝐹𝑙	𝐹𝑙	PROPN
fcis-1629	48	4	=	=	PUNCT
fcis-1629	48	5	𝑀𝐿𝑃	𝑀𝐿𝑃	PROPN
fcis-1629	48	6	(	(	PUNCT
fcis-1629	48	7	𝐿𝑁	𝐿𝑁	PROPN
fcis-1629	48	8	(	(	PUNCT
fcis-1629	48	9	𝐺𝐸𝐿𝑈(𝐹𝑙−1̂	𝐺𝐸𝐿𝑈(𝐹𝑙−1̂	NOUN
fcis-1629	48	10	)	)	PUNCT
fcis-1629	48	11	)	)	PUNCT
fcis-1629	48	12	)	)	PUNCT
fcis-1629	49	1	+	+	CCONJ
fcis-1629	49	2	𝐹𝑙−1̂	𝐹𝑙−1̂	NUM
fcis-1629	49	3	(	(	PUNCT
fcis-1629	49	4	2	2	NUM
fcis-1629	49	5	)	)	PUNCT
fcis-1629	49	6	where	where	SCONJ
fcis-1629	49	7	𝐹𝑙−1	𝐹𝑙−1	X
fcis-1629	49	8	denote	denote	VERB
fcis-1629	49	9	the	the	DET
fcis-1629	49	10	input	input	NOUN
fcis-1629	49	11	feature	feature	NOUN
fcis-1629	49	12	sequence	sequence	NOUN
fcis-1629	49	13	,	,	PUNCT
fcis-1629	49	14	𝐹𝑙−1̂	𝐹𝑙−1̂	NUM
fcis-1629	49	15	denote	denote	VERB
fcis-1629	49	16	the	the	DET
fcis-1629	49	17	temporal	temporal	ADJ
fcis-1629	49	18	feature	feature	NOUN
fcis-1629	49	19	.	.	PUNCT
fcis-1629	50	1	the	the	DET
fcis-1629	50	2	𝐹𝑀𝑆𝐴	𝐹𝑀𝑆𝐴	PROPN
fcis-1629	50	3	denote	denote	VERB
fcis-1629	50	4	the	the	DET
fcis-1629	50	5	fast	fast	ADJ
fcis-1629	50	6	version	version	NOUN
fcis-1629	50	7	mult	mult	PROPN
fcis-1629	50	8	-	-	PUNCT
fcis-1629	50	9	head	head	NOUN
fcis-1629	50	10	self	self	NOUN
fcis-1629	50	11	-	-	PUNCT
fcis-1629	50	12	attention	attention	NOUN
fcis-1629	50	13	module	module	NOUN
fcis-1629	50	14	,	,	PUNCT
fcis-1629	50	15	𝐿𝑁	𝐿𝑁	PROPN
fcis-1629	50	16	denote	denote	VERB
fcis-1629	50	17	the	the	DET
fcis-1629	50	18	layer	layer	NOUN
fcis-1629	50	19	figure	figure	NOUN
fcis-1629	50	20	1	1	NUM
fcis-1629	50	21	.	.	PUNCT
fcis-1629	51	1	the	the	DET
fcis-1629	51	2	pipeline	pipeline	NOUN
fcis-1629	51	3	of	of	ADP
fcis-1629	51	4	the	the	DET
fcis-1629	51	5	proposed	propose	VERB
fcis-1629	51	6	multi	multi	ADJ
fcis-1629	51	7	-	-	ADJ
fcis-1629	51	8	stage	stage	ADJ
fcis-1629	51	9	transformer	transformer	NOUN
fcis-1629	51	10	3d	3d	NUM
fcis-1629	51	11	object	object	NOUN
fcis-1629	51	12	detection	detection	NOUN
fcis-1629	51	13	method	method	NOUN
fcis-1629	51	14	figure	figure	NOUN
fcis-1629	51	15	2	2	NUM
fcis-1629	51	16	.	.	PUNCT
fcis-1629	52	1	the	the	DET
fcis-1629	52	2	architecture	architecture	NOUN
fcis-1629	52	3	of	of	ADP
fcis-1629	52	4	the	the	DET
fcis-1629	52	5	proposed	propose	VERB
fcis-1629	52	6	fast	fast	ADJ
fcis-1629	52	7	version	version	NOUN
fcis-1629	52	8	transformer	transformer	NOUN
fcis-1629	52	9	encoder	encoder	NOUN
fcis-1629	52	10	and	and	CCONJ
fcis-1629	52	11	decoder	decoder	NOUN
fcis-1629	52	12	blocks	block	NOUN
fcis-1629	52	13	.	.	PUNCT
fcis-1629	53	1	table	table	NOUN
fcis-1629	53	2	1	1	NUM
fcis-1629	53	3	.	.	PUNCT
fcis-1629	53	4	performance	performance	NOUN
fcis-1629	53	5	comparision	comparision	NOUN
fcis-1629	53	6	on	on	ADP
fcis-1629	53	7	kitti	kitti	PROPN
fcis-1629	53	8	validation	validation	NOUN
fcis-1629	53	9	sets	set	NOUN
fcis-1629	53	10	of	of	ADP
fcis-1629	53	11	3d	3d	NUM
fcis-1629	53	12	average	average	ADJ
fcis-1629	53	13	precision	precision	NOUN
fcis-1629	53	14	method	method	NOUN
fcis-1629	53	15	stage	stage	NOUN
fcis-1629	53	16	car	car	NOUN
fcis-1629	53	17	pedestrian	pedestrian	NOUN
fcis-1629	53	18	cyclist	cyclist	NOUN
fcis-1629	53	19	mod	mod	PROPN
fcis-1629	53	20	easy	easy	ADJ
fcis-1629	53	21	hard	hard	ADJ
fcis-1629	53	22	mod	mod	PROPN
fcis-1629	53	23	easy	easy	ADJ
fcis-1629	53	24	hard	hard	ADJ
fcis-1629	53	25	mod	mod	PROPN
fcis-1629	53	26	easy	easy	ADJ
fcis-1629	53	27	hard	hard	ADJ
fcis-1629	53	28	part	part	NOUN
fcis-1629	53	29	a2	a2	PROPN
fcis-1629	53	30	two	two	NUM
fcis-1629	53	31	82.79	82.79	NUM
fcis-1629	53	32	89.69	89.69	NUM
fcis-1629	53	33	78.92	78.92	NUM
fcis-1629	53	34	65.42	65.42	NUM
fcis-1629	53	35	71.23	71.23	NUM
fcis-1629	53	36	60.33	60.33	NUM
fcis-1629	53	37	72.21	72.21	NUM
fcis-1629	53	38	90.03	90.03	NUM
fcis-1629	53	39	69.54	69.54	NUM
fcis-1629	53	40	pv	pv	NOUN
fcis-1629	53	41	rcnn	rcnn	PROPN
fcis-1629	53	42	two	two	NUM
fcis-1629	53	43	83.37	83.37	NUM
fcis-1629	53	44	90.23	90.23	NUM
fcis-1629	53	45	80.89	80.89	NUM
fcis-1629	53	46	55.64	55.64	NUM
fcis-1629	53	47	63.69	63.69	NUM
fcis-1629	53	48	50.59	50.59	NUM
fcis-1629	53	49	71.07	71.07	NUM
fcis-1629	53	50	88.51	88.51	NUM
fcis-1629	53	51	66.64	66.64	NUM
fcis-1629	53	52	votr	votr	PROPN
fcis-1629	53	53	-	-	PUNCT
fcis-1629	53	54	tsd	tsd	PROPN
fcis-1629	53	55	two	two	NUM
fcis-1629	53	56	84.85	84.85	NUM
fcis-1629	53	57	92.04	92.04	NUM
fcis-1629	53	58	82.56	82.56	NUM
fcis-1629	53	59	54.84	54.84	NUM
fcis-1629	53	60	66.13	66.13	NUM
fcis-1629	53	61	51.69	51.69	NUM
fcis-1629	53	62	72.33	72.33	NUM
fcis-1629	53	63	89.42	89.42	NUM
fcis-1629	53	64	67.42	67.42	NUM
fcis-1629	53	65	voxel	voxel	PROPN
fcis-1629	53	66	rcnn	rcnn	PROPN
fcis-1629	53	67	two	two	NUM
fcis-1629	53	68	84.64	84.64	NUM
fcis-1629	53	69	92.48	92.48	NUM
fcis-1629	53	70	81.14	81.14	NUM
fcis-1629	53	71	58.28	58.28	NUM
fcis-1629	53	72	65.85	65.85	NUM
fcis-1629	53	73	53.15	53.15	NUM
fcis-1629	53	74	71.33	71.33	NUM
fcis-1629	53	75	90.26	90.26	NUM
fcis-1629	53	76	66.87	66.87	NUM
fcis-1629	53	77	pointpillars	pointpillar	NOUN
fcis-1629	54	1	one	one	NUM
fcis-1629	54	2	74.13	74.13	NUM
fcis-1629	54	3	85.51	85.51	NUM
fcis-1629	54	4	69.21	69.21	NUM
fcis-1629	54	5	48.33	48.33	NUM
fcis-1629	54	6	53.32	53.32	NUM
fcis-1629	54	7	43.62	43.62	NUM
fcis-1629	54	8	61.65	61.65	NUM
fcis-1629	54	9	79.10	79.10	NUM
fcis-1629	54	10	57.92	57.92	NUM
fcis-1629	54	11	cadnet	cadnet	NOUN
fcis-1629	54	12	one	one	NUM
fcis-1629	54	13	76.24	76.24	NUM
fcis-1629	54	14	85.30	85.30	NUM
fcis-1629	54	15	70.45	70.45	NUM
fcis-1629	54	16	62.44	62.44	NUM
fcis-1629	54	17	81.31	81.31	NUM
fcis-1629	54	18	59.42	59.42	NUM
fcis-1629	54	19	cia	cia	PROPN
fcis-1629	54	20	-	-	PUNCT
fcis-1629	54	21	ssd	ssd	NOUN
fcis-1629	54	22	one	one	NUM
fcis-1629	54	23	81.28	81.28	NUM
fcis-1629	54	24	90.41	90.41	NUM
fcis-1629	54	25	74.41	74.41	NUM
fcis-1629	54	26	second	second	ADJ
fcis-1629	54	27	one	one	NOUN
fcis-1629	54	28	78.36	78.36	NUM
fcis-1629	54	29	87.42	87.42	NUM
fcis-1629	54	30	75.40	75.40	NUM
fcis-1629	54	31	51.64	51.64	NUM
fcis-1629	54	32	54.99	54.99	NUM
fcis-1629	54	33	45.41	45.41	NUM
fcis-1629	54	34	61.82	61.82	NUM
fcis-1629	54	35	79.51	79.51	NUM
fcis-1629	54	36	57.59	57.59	NUM
fcis-1629	54	37	centerpoint	centerpoint	NOUN
fcis-1629	54	38	one	one	NUM
fcis-1629	54	39	81.26	81.26	NUM
fcis-1629	54	40	88.46	88.46	NUM
fcis-1629	54	41	78.71	78.71	NUM
fcis-1629	54	42	51.33	51.33	NUM
fcis-1629	54	43	55.39	55.39	NUM
fcis-1629	54	44	48.33	48.33	NUM
fcis-1629	54	45	65.49	65.49	NUM
fcis-1629	54	46	82.03	82.03	NUM
fcis-1629	54	47	62.03	62.03	NUM
fcis-1629	54	48	our	our	PRON
fcis-1629	54	49	method	method	NOUN
fcis-1629	54	50	one	one	NUM
fcis-1629	54	51	81.22	81.22	NUM
fcis-1629	54	52	89.54	89.54	NUM
fcis-1629	54	53	79.11	79.11	NUM
fcis-1629	54	54	56.22	56.22	NUM
fcis-1629	54	55	58.32	58.32	NUM
fcis-1629	54	56	51.11	51.11	NUM
fcis-1629	54	57	69.30	69.30	NUM
fcis-1629	54	58	84.71	84.71	NUM
fcis-1629	54	59	64.33	64.33	NUM
fcis-1629	54	60	29	29	NUM
fcis-1629	54	61	table	table	NOUN
fcis-1629	54	62	2	2	NUM
fcis-1629	54	63	.	.	PUNCT
fcis-1629	54	64	performance	performance	NOUN
fcis-1629	54	65	comparision	comparision	NOUN
fcis-1629	54	66	on	on	ADP
fcis-1629	54	67	kitti	kitti	PROPN
fcis-1629	54	68	validation	validation	NOUN
fcis-1629	54	69	sets	set	NOUN
fcis-1629	54	70	of	of	ADP
fcis-1629	54	71	bird	bird	NOUN
fcis-1629	54	72	's	's	PART
fcis-1629	54	73	eye	eye	NOUN
fcis-1629	54	74	view	view	NOUN
fcis-1629	54	75	average	average	ADJ
fcis-1629	54	76	precision	precision	NOUN
fcis-1629	54	77	method	method	NOUN
fcis-1629	54	78	stage	stage	NOUN
fcis-1629	54	79	car	car	NOUN
fcis-1629	54	80	pedestrain	pedestrain	NOUN
fcis-1629	54	81	cyclist	cyclist	NOUN
fcis-1629	54	82	mod	mod	PROPN
fcis-1629	54	83	easy	easy	ADJ
fcis-1629	54	84	hard	hard	ADJ
fcis-1629	54	85	mod	mod	PROPN
fcis-1629	54	86	easy	easy	ADJ
fcis-1629	54	87	hard	hard	ADJ
fcis-1629	54	88	mod	mod	PROPN
fcis-1629	54	89	easy	easy	ADJ
fcis-1629	54	90	hard	hard	ADJ
fcis-1629	54	91	part	part	NOUN
fcis-1629	54	92	a2	a2	PROPN
fcis-1629	54	93	two	two	NUM
fcis-1629	54	94	90.32	90.32	NUM
fcis-1629	54	95	95.33	95.33	NUM
fcis-1629	54	96	88.49	88.49	NUM
fcis-1629	54	97	72.43	72.43	NUM
fcis-1629	54	98	77.32	77.32	NUM
fcis-1629	54	99	70.41	70.41	NUM
fcis-1629	54	100	89.31	89.31	NUM
fcis-1629	54	101	93.23	93.23	NUM
fcis-1629	54	102	86.33	86.33	NUM
fcis-1629	54	103	pv	pv	NOUN
fcis-1629	54	104	rcnn	rcnn	PROPN
fcis-1629	54	105	two	two	NUM
fcis-1629	54	106	90.69	90.69	NUM
fcis-1629	54	107	92.88	92.88	NUM
fcis-1629	54	108	88.53	88.53	NUM
fcis-1629	54	109	61.18	61.18	NUM
fcis-1629	54	110	69.37	69.37	NUM
fcis-1629	54	111	56.26	56.26	NUM
fcis-1629	54	112	75.15	75.15	NUM
fcis-1629	54	113	94.47	94.47	NUM
fcis-1629	54	114	70.38	70.38	NUM
fcis-1629	54	115	votr	votr	PROPN
fcis-1629	54	116	-	-	PUNCT
fcis-1629	54	117	tsd	tsd	PROPN
fcis-1629	54	118	two	two	NUM
fcis-1629	54	119	90.67	90.67	NUM
fcis-1629	54	120	94.90	94.90	NUM
fcis-1629	54	121	89.98	89.98	NUM
fcis-1629	54	122	62.34	62.34	NUM
fcis-1629	54	123	68.13	68.13	NUM
fcis-1629	54	124	57.49	57.49	NUM
fcis-1629	54	125	74.15	74.15	NUM
fcis-1629	54	126	93.34	93.34	NUM
fcis-1629	54	127	69.98	69.98	NUM
fcis-1629	54	128	voxel	voxel	PROPN
fcis-1629	54	129	rcnn	rcnn	PROPN
fcis-1629	54	130	two	two	NUM
fcis-1629	54	131	91.17	91.17	NUM
fcis-1629	54	132	95.44	95.44	NUM
fcis-1629	54	133	88.42	88.42	NUM
fcis-1629	54	134	59.38	59.38	NUM
fcis-1629	54	135	65.86	65.86	NUM
fcis-1629	54	136	55.22	55.22	NUM
fcis-1629	54	137	74.08	74.08	NUM
fcis-1629	54	138	91.62	91.62	NUM
fcis-1629	54	139	71.94	71.94	NUM
fcis-1629	54	140	pointpillars	pointpillar	NOUN
fcis-1629	54	141	one	one	NUM
fcis-1629	54	142	87.37	87.37	NUM
fcis-1629	54	143	90.01	90.01	NUM
fcis-1629	54	144	85.22	85.22	NUM
fcis-1629	54	145	54.43	54.43	NUM
fcis-1629	54	146	57.33	57.33	NUM
fcis-1629	54	147	51.10	51.10	NUM
fcis-1629	54	148	62.73	62.73	NUM
fcis-1629	54	149	79.90	79.90	NUM
fcis-1629	54	150	55.58	55.58	NUM
fcis-1629	54	151	cadnet	cadnet	NOUN
fcis-1629	54	152	one	one	NUM
fcis-1629	54	153	88.02	88.02	NUM
fcis-1629	54	154	90.41	90.41	NUM
fcis-1629	54	155	86.30	86.30	NUM
fcis-1629	54	156	65.12	65.12	NUM
fcis-1629	54	157	79.51	79.51	NUM
fcis-1629	54	158	58.25	58.25	NUM
fcis-1629	54	159	cia	cia	PROPN
fcis-1629	54	160	-	-	PUNCT
fcis-1629	54	161	ssd	ssd	NOUN
fcis-1629	54	162	one	one	NUM
fcis-1629	54	163	89.28	89.28	NUM
fcis-1629	54	164	91.59	91.59	NUM
fcis-1629	54	165	85.47	85.47	NUM
fcis-1629	54	166	second	second	ADJ
fcis-1629	54	167	one	one	NUM
fcis-1629	54	168	88.53	88.53	NUM
fcis-1629	54	169	92.64	92.64	NUM
fcis-1629	54	170	87.55	87.55	NUM
fcis-1629	54	171	53.79	53.79	NUM
fcis-1629	54	172	58.41	58.41	NUM
fcis-1629	54	173	50.64	50.64	NUM
fcis-1629	54	174	85.90	85.90	NUM
fcis-1629	54	175	70.35	70.35	NUM
fcis-1629	54	176	66.38	66.38	NUM
fcis-1629	54	177	centerpoint	centerpoint	PROPN
fcis-1629	54	178	one	one	NUM
fcis-1629	54	179	91.30	91.30	NUM
fcis-1629	54	180	94.45	94.45	NUM
fcis-1629	54	181	88.59	88.59	NUM
fcis-1629	54	182	59.32	59.32	NUM
fcis-1629	54	183	63.42	63.42	NUM
fcis-1629	54	184	56.49	56.49	NUM
fcis-1629	54	185	71.44	71.44	NUM
fcis-1629	54	186	90.04	90.04	NUM
fcis-1629	54	187	70.03	70.03	NUM
fcis-1629	54	188	our	our	PRON
fcis-1629	54	189	method	method	NOUN
fcis-1629	54	190	one	one	NUM
fcis-1629	54	191	91.42	91.42	NUM
fcis-1629	54	192	92.14	92.14	NUM
fcis-1629	54	193	89.22	89.22	NUM
fcis-1629	54	194	61.32	61.32	NUM
fcis-1629	54	195	64.12	64.12	NUM
fcis-1629	54	196	57.63	57.63	NUM
fcis-1629	54	197	71.64	71.64	NUM
fcis-1629	54	198	86.34	86.34	NUM
fcis-1629	54	199	70.62	70.62	NUM
fcis-1629	54	200	norm	norm	NOUN
fcis-1629	54	201	module	module	NOUN
fcis-1629	54	202	,	,	PUNCT
fcis-1629	54	203	𝑀𝐿𝑃	𝑀𝐿𝑃	PROPN
fcis-1629	54	204	denote	denote	VERB
fcis-1629	54	205	the	the	DET
fcis-1629	54	206	mult	mult	PROPN
fcis-1629	54	207	-	-	PUNCT
fcis-1629	54	208	layer	layer	NOUN
fcis-1629	54	209	preception	preception	NOUN
fcis-1629	54	210	module	module	NOUN
fcis-1629	54	211	.	.	PUNCT
fcis-1629	55	1	the	the	DET
fcis-1629	55	2	original	original	ADJ
fcis-1629	55	3	version	version	NOUN
fcis-1629	55	4	mult	mult	PROPN
fcis-1629	55	5	-	-	PUNCT
fcis-1629	55	6	head	head	NOUN
fcis-1629	55	7	self	self	NOUN
fcis-1629	55	8	-	-	PUNCT
fcis-1629	55	9	attention	attention	NOUN
fcis-1629	55	10	block	block	NOUN
fcis-1629	55	11	can	can	AUX
fcis-1629	55	12	be	be	AUX
fcis-1629	55	13	described	describe	VERB
fcis-1629	55	14	as	as	ADP
fcis-1629	55	15	:	:	PUNCT
fcis-1629	55	16	𝑞𝑙	𝑞𝑙	PROPN
fcis-1629	55	17	=	=	SYM
fcis-1629	55	18	𝐹𝑙𝑊𝑞	𝐹𝑙𝑊𝑞	PROPN
fcis-1629	55	19	,	,	PUNCT
fcis-1629	55	20	𝑘𝑙	𝑘𝑙	NOUN
fcis-1629	55	21	=	=	SYM
fcis-1629	55	22	𝐹𝑙𝑊𝑘	𝐹𝑙𝑊𝑘	PROPN
fcis-1629	55	23	,	,	PUNCT
fcis-1629	55	24	𝑣𝑙	𝑣𝑙	PROPN
fcis-1629	55	25	=	=	PUNCT
fcis-1629	55	26	𝐹𝑙𝑊𝑣	𝐹𝑙𝑊𝑣	NUM
fcis-1629	55	27	𝐹𝑜𝑢𝑡	𝐹𝑜𝑢𝑡	PROPN
fcis-1629	55	28	=	=	PUNCT
fcis-1629	55	29	𝑠𝑜𝑓𝑡𝑚𝑎𝑥	𝑠𝑜𝑓𝑡𝑚𝑎𝑥	PROPN
fcis-1629	55	30	(	(	PUNCT
fcis-1629	55	31	𝑞𝑙𝑘𝑙	𝑞𝑙𝑘𝑙	PROPN
fcis-1629	55	32	𝑇	𝑇	PROPN
fcis-1629	55	33	√𝑑𝑘	√𝑑𝑘	PROPN
fcis-1629	55	34	)	)	PUNCT
fcis-1629	55	35	𝑣𝑙	𝑣𝑙	PROPN
fcis-1629	55	36	(	(	PUNCT
fcis-1629	55	37	3	3	NUM
fcis-1629	55	38	)	)	PUNCT
fcis-1629	55	39	where	where	SCONJ
fcis-1629	55	40	𝑊𝑞	𝑊𝑞	PROPN
fcis-1629	55	41	,	,	PUNCT
fcis-1629	55	42	𝑊𝑘,𝑊𝑣	𝑊𝑘,𝑊𝑣	NOUN
fcis-1629	55	43	denote	denote	VERB
fcis-1629	55	44	the	the	DET
fcis-1629	55	45	feature	feature	NOUN
fcis-1629	55	46	map	map	NOUN
fcis-1629	55	47	matrix	matrix	NOUN
fcis-1629	55	48	,	,	PUNCT
fcis-1629	55	49	which	which	PRON
fcis-1629	55	50	is	be	AUX
fcis-1629	55	51	used	use	VERB
fcis-1629	55	52	to	to	PART
fcis-1629	55	53	project	project	VERB
fcis-1629	55	54	the	the	DET
fcis-1629	55	55	input	input	NOUN
fcis-1629	55	56	feature	feature	NOUN
fcis-1629	55	57	sequence	sequence	NOUN
fcis-1629	55	58	into	into	ADP
fcis-1629	55	59	a	a	DET
fcis-1629	55	60	highdimension	highdimension	NOUN
fcis-1629	55	61	space	space	NOUN
fcis-1629	55	62	.	.	PUNCT
fcis-1629	56	1	as	as	SCONJ
fcis-1629	56	2	mentioned	mention	VERB
fcis-1629	56	3	in	in	ADP
fcis-1629	56	4	[	[	X
fcis-1629	56	5	]	]	X
fcis-1629	56	6	,	,	PUNCT
fcis-1629	56	7	the	the	DET
fcis-1629	56	8	softmax	softmax	NOUN
fcis-1629	56	9	operation	operation	NOUN
fcis-1629	56	10	consumes	consume	VERB
fcis-1629	56	11	relatively	relatively	ADV
fcis-1629	56	12	large	large	ADJ
fcis-1629	56	13	computing	compute	VERB
fcis-1629	56	14	resources	resource	NOUN
fcis-1629	56	15	.	.	PUNCT
fcis-1629	57	1	to	to	PART
fcis-1629	57	2	reduce	reduce	VERB
fcis-1629	57	3	the	the	DET
fcis-1629	57	4	overhead	overhead	NOUN
fcis-1629	57	5	of	of	ADP
fcis-1629	57	6	the	the	DET
fcis-1629	57	7	model	model	NOUN
fcis-1629	57	8	and	and	CCONJ
fcis-1629	57	9	improve	improve	VERB
fcis-1629	57	10	the	the	DET
fcis-1629	57	11	abaptability	abaptability	NOUN
fcis-1629	57	12	of	of	ADP
fcis-1629	57	13	the	the	DET
fcis-1629	57	14	model	model	NOUN
fcis-1629	57	15	to	to	ADP
fcis-1629	57	16	autonomous	autonomous	ADJ
fcis-1629	57	17	driving	driving	NOUN
fcis-1629	57	18	scenarios	scenario	NOUN
fcis-1629	57	19	,	,	PUNCT
fcis-1629	57	20	this	this	DET
fcis-1629	57	21	paper	paper	NOUN
fcis-1629	57	22	uses	use	VERB
fcis-1629	57	23	a	a	DET
fcis-1629	57	24	cosine	cosine	NOUN
fcis-1629	57	25	function	function	NOUN
fcis-1629	57	26	to	to	PART
fcis-1629	57	27	replace	replace	VERB
fcis-1629	57	28	the	the	DET
fcis-1629	57	29	softmax	softmax	NOUN
fcis-1629	57	30	operation	operation	NOUN
fcis-1629	57	31	.	.	PUNCT
fcis-1629	58	1	thus	thus	ADV
fcis-1629	58	2	,	,	PUNCT
fcis-1629	58	3	the	the	DET
fcis-1629	58	4	fast	fast	ADJ
fcis-1629	58	5	version	version	NOUN
fcis-1629	58	6	mult	mult	PROPN
fcis-1629	58	7	-	-	PUNCT
fcis-1629	58	8	head	head	NOUN
fcis-1629	58	9	self	self	NOUN
fcis-1629	58	10	-	-	PUNCT
fcis-1629	58	11	attention	attention	NOUN
fcis-1629	58	12	module	module	NOUN
fcis-1629	58	13	can	can	AUX
fcis-1629	58	14	be	be	AUX
fcis-1629	58	15	described	describe	VERB
fcis-1629	58	16	as	as	ADP
fcis-1629	58	17	:	:	PUNCT
fcis-1629	58	18	𝑞𝑙	𝑞𝑙	PROPN
fcis-1629	58	19	=	=	SYM
fcis-1629	58	20	𝐹𝑙𝑊𝑞	𝐹𝑙𝑊𝑞	PROPN
fcis-1629	58	21	,	,	PUNCT
fcis-1629	58	22	𝑘𝑙	𝑘𝑙	NOUN
fcis-1629	58	23	=	=	SYM
fcis-1629	58	24	𝐹𝑙𝑊𝑘	𝐹𝑙𝑊𝑘	PROPN
fcis-1629	58	25	,	,	PUNCT
fcis-1629	58	26	𝑣𝑙	𝑣𝑙	PROPN
fcis-1629	58	27	=	=	PUNCT
fcis-1629	58	28	𝐹𝑙𝑊𝑣	𝐹𝑙𝑊𝑣	NUM
fcis-1629	58	29	𝐹𝑜𝑢𝑡	𝐹𝑜𝑢𝑡	PROPN
fcis-1629	58	30	=	=	SYM
fcis-1629	58	31	𝑐𝑜𝑠(𝑞𝑙	𝑐𝑜𝑠(𝑞𝑙	X
fcis-1629	58	32	,	,	PUNCT
fcis-1629	58	33	𝑘𝑙)/β	𝑘𝑙)/β	NOUN
fcis-1629	59	1	+	+	CCONJ
fcis-1629	59	2	𝐵	𝐵	NOUN
fcis-1629	59	3	(	(	PUNCT
fcis-1629	59	4	4	4	NUM
fcis-1629	59	5	)	)	PUNCT
fcis-1629	59	6	where	where	SCONJ
fcis-1629	59	7	𝐵	𝐵	NOUN
fcis-1629	59	8	is	be	AUX
fcis-1629	59	9	the	the	DET
fcis-1629	59	10	relative	relative	ADJ
fcis-1629	59	11	position	position	NOUN
fcis-1629	59	12	bias	bias	NOUN
fcis-1629	59	13	matrix	matrix	NOUN
fcis-1629	59	14	of	of	ADP
fcis-1629	59	15	each	each	DET
fcis-1629	59	16	point	point	NOUN
fcis-1629	59	17	;	;	PUNCT
fcis-1629	59	18	β	β	X
fcis-1629	59	19	is	be	AUX
fcis-1629	59	20	a	a	DET
fcis-1629	59	21	learnable	learnable	ADJ
fcis-1629	59	22	scalar	scalar	ADJ
fcis-1629	59	23	,	,	PUNCT
fcis-1629	59	24	non	non	ADJ
fcis-1629	59	25	-	-	ADJ
fcis-1629	59	26	shared	shared	ADJ
fcis-1629	59	27	across	across	ADP
fcis-1629	59	28	heads	head	NOUN
fcis-1629	59	29	and	and	CCONJ
fcis-1629	59	30	layers	layer	NOUN
fcis-1629	59	31	.	.	PUNCT
fcis-1629	60	1	the	the	DET
fcis-1629	60	2	initial	initial	ADJ
fcis-1629	60	3	value	value	NOUN
fcis-1629	60	4	of	of	ADP
fcis-1629	60	5	β	β	X
fcis-1629	60	6	should	should	AUX
fcis-1629	60	7	be	be	AUX
fcis-1629	60	8	set	set	VERB
fcis-1629	60	9	larger	large	ADJ
fcis-1629	60	10	than	than	ADP
fcis-1629	60	11	0.01	0.01	NUM
fcis-1629	60	12	.	.	PUNCT
fcis-1629	61	1	the	the	DET
fcis-1629	61	2	cosine	cosine	NOUN
fcis-1629	61	3	function	function	NOUN
fcis-1629	61	4	is	be	AUX
fcis-1629	61	5	naturally	naturally	ADV
fcis-1629	61	6	normalized	normalize	VERB
fcis-1629	61	7	,	,	PUNCT
fcis-1629	61	8	and	and	CCONJ
fcis-1629	61	9	thus	thus	ADV
fcis-1629	61	10	can	can	AUX
fcis-1629	61	11	have	have	VERB
fcis-1629	61	12	milder	mild	ADJ
fcis-1629	61	13	attention	attention	NOUN
fcis-1629	61	14	values	value	NOUN
fcis-1629	61	15	.	.	PUNCT
fcis-1629	62	1	2.2	2.2	NUM
fcis-1629	62	2	.	.	PUNCT
fcis-1629	63	1	ball	ball	NOUN
fcis-1629	63	2	query	query	NOUN
fcis-1629	63	3	based	base	VERB
fcis-1629	63	4	downsample	downsample	PROPN
fcis-1629	63	5	strategy	strategy	NOUN
fcis-1629	63	6	as	as	SCONJ
fcis-1629	63	7	the	the	DET
fcis-1629	63	8	input	input	NOUN
fcis-1629	63	9	point	point	NOUN
fcis-1629	63	10	cloud	cloud	NOUN
fcis-1629	63	11	sequence	sequence	NOUN
fcis-1629	63	12	is	be	AUX
fcis-1629	63	13	too	too	ADV
fcis-1629	63	14	large	large	ADJ
fcis-1629	63	15	,	,	PUNCT
fcis-1629	63	16	we	we	PRON
fcis-1629	63	17	adopt	adopt	VERB
fcis-1629	63	18	the	the	DET
fcis-1629	63	19	point	point	NOUN
fcis-1629	63	20	set	set	VERB
fcis-1629	63	21	aggregation	aggregation	NOUN
fcis-1629	63	22	operation	operation	NOUN
fcis-1629	63	23	like	like	ADP
fcis-1629	63	24	pointnet++	pointnet++	PROPN
fcis-1629	63	25	.	.	PUNCT
fcis-1629	64	1	a	a	DET
fcis-1629	64	2	set	set	ADJ
fcis-1629	64	3	abstraction	abstraction	NOUN
fcis-1629	64	4	layer	layer	NOUN
fcis-1629	64	5	takes	take	VERB
fcis-1629	64	6	an	an	DET
fcis-1629	64	7	𝑁	𝑁	PROPN
fcis-1629	64	8	×	×	NOUN
fcis-1629	64	9	(	(	PUNCT
fcis-1629	64	10	𝑑	𝑑	PROPN
fcis-1629	64	11	+	+	NOUN
fcis-1629	64	12	𝑐	𝑐	NOUN
fcis-1629	64	13	)	)	PUNCT
fcis-1629	64	14	matrix	matrix	NOUN
fcis-1629	64	15	as	as	ADP
fcis-1629	64	16	input	input	NOUN
fcis-1629	64	17	,	,	PUNCT
fcis-1629	64	18	which	which	PRON
fcis-1629	64	19	is	be	AUX
fcis-1629	64	20	outputed	output	VERB
fcis-1629	64	21	by	by	ADP
fcis-1629	64	22	our	our	PRON
fcis-1629	64	23	fast	fast	ADJ
fcis-1629	64	24	version	version	NOUN
fcis-1629	64	25	transformer	transformer	NOUN
fcis-1629	64	26	3d	3d	NUM
fcis-1629	64	27	encoder	encoder	NOUN
fcis-1629	64	28	.	.	PUNCT
fcis-1629	65	1	it	it	PRON
fcis-1629	65	2	outputs	output	VERB
fcis-1629	65	3	an	an	DET
fcis-1629	65	4	𝑁𝑜	𝑁𝑜	PROPN
fcis-1629	65	5	×	×	NOUN
fcis-1629	65	6	(	(	PUNCT
fcis-1629	65	7	𝑑	𝑑	PROPN
fcis-1629	65	8	+	+	ADJ
fcis-1629	65	9	𝐶𝑜	𝐶𝑜	ADJ
fcis-1629	65	10	)	)	PUNCT
fcis-1629	65	11	matrix	matrix	NOUN
fcis-1629	65	12	of	of	ADP
fcis-1629	65	13	𝑁𝑜	𝑁𝑜	PROPN
fcis-1629	65	14	subsampled	subsample	VERB
fcis-1629	65	15	points	point	NOUN
fcis-1629	65	16	with	with	ADP
fcis-1629	65	17	d	d	ADJ
fcis-1629	65	18	-	-	ADJ
fcis-1629	65	19	dim	dim	ADJ
fcis-1629	65	20	coordinates	coordinate	NOUN
fcis-1629	65	21	and	and	CCONJ
fcis-1629	65	22	new	new	ADJ
fcis-1629	65	23	𝐶𝑜	𝐶𝑜	PROPN
fcis-1629	65	24	-dim	-dim	NUM
fcis-1629	65	25	feature	feature	NOUN
fcis-1629	65	26	vectors	vector	NOUN
fcis-1629	65	27	summarizing	summarize	VERB
fcis-1629	65	28	local	local	ADJ
fcis-1629	65	29	context	context	NOUN
fcis-1629	65	30	.	.	PUNCT
fcis-1629	66	1	then	then	ADV
fcis-1629	66	2	,	,	PUNCT
fcis-1629	66	3	the	the	DET
fcis-1629	66	4	output	output	NOUN
fcis-1629	66	5	are	be	AUX
fcis-1629	66	6	groups	group	NOUN
fcis-1629	66	7	of	of	ADP
fcis-1629	66	8	point	point	NOUN
fcis-1629	66	9	sets	set	NOUN
fcis-1629	66	10	of	of	ADP
fcis-1629	66	11	size	size	NOUN
fcis-1629	66	12	𝑁𝑜	𝑁𝑜	PROPN
fcis-1629	66	13	×	×	NOUN
fcis-1629	66	14	𝐾	𝐾	PROPN
fcis-1629	66	15	×	×	NOUN
fcis-1629	66	16	(	(	PUNCT
fcis-1629	66	17	𝑑	𝑑	PROPN
fcis-1629	66	18	+	+	X
fcis-1629	66	19	𝐶	𝐶	PROPN
fcis-1629	66	20	)	)	PUNCT
fcis-1629	66	21	,	,	PUNCT
fcis-1629	66	22	where	where	SCONJ
fcis-1629	66	23	each	each	DET
fcis-1629	66	24	group	group	NOUN
fcis-1629	66	25	corresponds	correspond	VERB
fcis-1629	66	26	to	to	ADP
fcis-1629	66	27	a	a	DET
fcis-1629	66	28	local	local	ADJ
fcis-1629	66	29	region	region	NOUN
fcis-1629	66	30	and	and	CCONJ
fcis-1629	66	31	k	k	PROPN
fcis-1629	66	32	is	be	AUX
fcis-1629	66	33	the	the	DET
fcis-1629	66	34	number	number	NOUN
fcis-1629	66	35	of	of	ADP
fcis-1629	66	36	points	point	NOUN
fcis-1629	66	37	in	in	ADP
fcis-1629	66	38	the	the	DET
fcis-1629	66	39	neighborhood	neighborhood	NOUN
fcis-1629	66	40	of	of	ADP
fcis-1629	66	41	centroid	centroid	NOUN
fcis-1629	66	42	points	point	NOUN
fcis-1629	66	43	.	.	PUNCT
fcis-1629	67	1	as	as	SCONJ
fcis-1629	67	2	shown	show	VERB
fcis-1629	67	3	in	in	ADP
fcis-1629	67	4	fig	fig	NOUN
fcis-1629	67	5	.	.	PUNCT
fcis-1629	68	1	1	1	NUM
fcis-1629	68	2	,	,	PUNCT
fcis-1629	68	3	the	the	DET
fcis-1629	68	4	ball	ball	NOUN
fcis-1629	68	5	query	query	NOUN
fcis-1629	68	6	downsample	downsample	NOUN
fcis-1629	68	7	modules	module	NOUN
fcis-1629	68	8	are	be	AUX
fcis-1629	68	9	connected	connect	VERB
fcis-1629	68	10	behind	behind	ADP
fcis-1629	68	11	each	each	DET
fcis-1629	68	12	transformer	transformer	NOUN
fcis-1629	68	13	3d	3d	NUM
fcis-1629	68	14	encoder	encoder	NOUN
fcis-1629	68	15	blocks	block	NOUN
fcis-1629	68	16	.	.	PUNCT
fcis-1629	69	1	2.3	2.3	NUM
fcis-1629	69	2	.	.	PUNCT
fcis-1629	70	1	mult	mult	PROPN
fcis-1629	70	2	-	-	PUNCT
fcis-1629	70	3	stage	stage	NOUN
fcis-1629	70	4	transformer	transformer	NOUN
fcis-1629	70	5	3d	3d	NOUN
fcis-1629	70	6	decoder	decoder	NOUN
fcis-1629	70	7	as	as	ADP
fcis-1629	70	8	the	the	DET
fcis-1629	70	9	size	size	NOUN
fcis-1629	70	10	of	of	ADP
fcis-1629	70	11	objects	object	NOUN
fcis-1629	70	12	is	be	AUX
fcis-1629	70	13	invariant	invariant	ADJ
fcis-1629	70	14	in	in	ADP
fcis-1629	70	15	the	the	DET
fcis-1629	70	16	3d	3d	NUM
fcis-1629	70	17	scene	scene	NOUN
fcis-1629	70	18	,	,	PUNCT
fcis-1629	70	19	one	one	NUM
fcis-1629	70	20	-	-	PUNCT
fcis-1629	70	21	stage	stage	NOUN
fcis-1629	70	22	3d	3d	NUM
fcis-1629	70	23	detectors	detector	NOUN
fcis-1629	70	24	usually	usually	ADV
fcis-1629	70	25	do	do	AUX
fcis-1629	70	26	not	not	PART
fcis-1629	70	27	concern	concern	VERB
fcis-1629	70	28	the	the	DET
fcis-1629	70	29	mult	mult	PROPN
fcis-1629	70	30	-	-	PUNCT
fcis-1629	70	31	stage	stage	NOUN
fcis-1629	70	32	features	feature	NOUN
fcis-1629	70	33	.	.	PUNCT
fcis-1629	71	1	in	in	ADP
fcis-1629	71	2	addition	addition	NOUN
fcis-1629	71	3	,	,	PUNCT
fcis-1629	71	4	current	current	ADJ
fcis-1629	71	5	point	point	NOUN
fcis-1629	71	6	-	-	PUNCT
fcis-1629	71	7	based	base	VERB
fcis-1629	71	8	method	method	NOUN
fcis-1629	71	9	usually	usually	ADV
fcis-1629	71	10	only	only	ADV
fcis-1629	71	11	adopt	adopt	VERB
fcis-1629	71	12	encoder	encoder	NOUN
fcis-1629	71	13	only	only	ADV
fcis-1629	71	14	architecture	architecture	NOUN
fcis-1629	71	15	to	to	PART
fcis-1629	71	16	perform	perform	VERB
fcis-1629	71	17	the	the	DET
fcis-1629	71	18	3d	3d	NUM
fcis-1629	71	19	detection	detection	NOUN
fcis-1629	71	20	tasks	task	NOUN
fcis-1629	71	21	.	.	PUNCT
fcis-1629	72	1	this	this	PRON
fcis-1629	72	2	motivate	motivate	VERB
fcis-1629	72	3	us	we	PRON
fcis-1629	72	4	to	to	PART
fcis-1629	72	5	design	design	VERB
fcis-1629	72	6	a	a	DET
fcis-1629	72	7	mult	mult	NOUN
fcis-1629	72	8	-	-	PUNCT
fcis-1629	72	9	stage	stage	NOUN
fcis-1629	72	10	transformer	transformer	NOUN
fcis-1629	72	11	3d	3d	NUM
fcis-1629	72	12	encoder	encoder	NOUN
fcis-1629	72	13	.	.	PUNCT
fcis-1629	73	1	the	the	DET
fcis-1629	73	2	architecture	architecture	NOUN
fcis-1629	73	3	of	of	ADP
fcis-1629	73	4	our	our	PRON
fcis-1629	73	5	mult	mult	NOUN
fcis-1629	73	6	-	-	PUNCT
fcis-1629	73	7	stage	stage	NOUN
fcis-1629	73	8	transformer	transformer	NOUN
fcis-1629	73	9	3d	3d	NUM
fcis-1629	73	10	detector	detector	NOUN
fcis-1629	73	11	is	be	AUX
fcis-1629	73	12	shown	show	VERB
fcis-1629	73	13	in	in	ADP
fcis-1629	73	14	fig	fig	NOUN
fcis-1629	73	15	.	.	PUNCT
fcis-1629	74	1	2	2	X
fcis-1629	74	2	.	.	X
fcis-1629	74	3	the	the	DET
fcis-1629	74	4	mult	mult	PROPN
fcis-1629	74	5	stage	stage	PROPN
fcis-1629	74	6	transformer	transformer	NOUN
fcis-1629	74	7	3d	3d	NUM
fcis-1629	74	8	decoder	decoder	NOUN
fcis-1629	74	9	is	be	AUX
fcis-1629	74	10	consisted	consist	VERB
fcis-1629	74	11	by	by	ADP
fcis-1629	74	12	severals	several	NOUN
fcis-1629	74	13	transformer	transformer	NOUN
fcis-1629	74	14	decoder	decoder	NOUN
fcis-1629	74	15	blocks	block	NOUN
fcis-1629	74	16	.	.	PUNCT
fcis-1629	75	1	different	different	ADJ
fcis-1629	75	2	from	from	ADP
fcis-1629	75	3	encoder	encoder	NOUN
fcis-1629	75	4	block	block	NOUN
fcis-1629	75	5	,	,	PUNCT
fcis-1629	75	6	the	the	DET
fcis-1629	75	7	transformer	transformer	NOUN
fcis-1629	75	8	decoder	decoder	NOUN
fcis-1629	75	9	block	block	NOUN
fcis-1629	75	10	is	be	AUX
fcis-1629	75	11	consisted	consist	VERB
fcis-1629	75	12	by	by	ADP
fcis-1629	75	13	two	two	NUM
fcis-1629	75	14	fast	fast	ADJ
fcis-1629	75	15	version	version	NOUN
fcis-1629	75	16	mult	mult	PROPN
fcis-1629	75	17	-	-	PUNCT
fcis-1629	75	18	head	head	NOUN
fcis-1629	75	19	self	self	NOUN
fcis-1629	75	20	-	-	PUNCT
fcis-1629	75	21	attention	attention	NOUN
fcis-1629	75	22	modules	module	NOUN
fcis-1629	75	23	.	.	PUNCT
fcis-1629	76	1	the	the	DET
fcis-1629	76	2	first	first	ADJ
fcis-1629	76	3	fast	fast	ADJ
fcis-1629	76	4	version	version	NOUN
fcis-1629	76	5	mult	mult	PROPN
fcis-1629	76	6	-	-	PUNCT
fcis-1629	76	7	head	head	NOUN
fcis-1629	76	8	self	self	NOUN
fcis-1629	76	9	-	-	PUNCT
fcis-1629	76	10	attention	attention	NOUN
fcis-1629	76	11	head	head	NOUN
fcis-1629	76	12	module	module	NOUN
fcis-1629	76	13	will	will	AUX
fcis-1629	76	14	use	use	VERB
fcis-1629	76	15	the	the	DET
fcis-1629	76	16	final	final	ADJ
fcis-1629	76	17	output	output	NOUN
fcis-1629	76	18	of	of	ADP
fcis-1629	76	19	transformer	transformer	NOUN
fcis-1629	76	20	3d	3d	NUM
fcis-1629	76	21	encoder	encoder	NOUN
fcis-1629	76	22	,	,	PUNCT
fcis-1629	76	23	while	while	SCONJ
fcis-1629	76	24	lthe	lthe	DET
fcis-1629	76	25	second	second	ADJ
fcis-1629	76	26	fast	fast	ADJ
fcis-1629	76	27	version	version	NOUN
fcis-1629	76	28	mult	mult	PROPN
fcis-1629	76	29	-	-	PUNCT
fcis-1629	76	30	head	head	NOUN
fcis-1629	76	31	self	self	NOUN
fcis-1629	76	32	-	-	PUNCT
fcis-1629	76	33	attention	attention	NOUN
fcis-1629	76	34	head	head	NOUN
fcis-1629	76	35	module	module	NOUN
fcis-1629	76	36	will	will	AUX
fcis-1629	76	37	use	use	VERB
fcis-1629	76	38	the	the	DET
fcis-1629	76	39	temporal	temporal	ADJ
fcis-1629	76	40	output	output	NOUN
fcis-1629	76	41	of	of	ADP
fcis-1629	76	42	3d	3d	NUM
fcis-1629	76	43	encoder	encoder	NOUN
fcis-1629	76	44	as	as	ADP
fcis-1629	76	45	query	query	NOUN
fcis-1629	76	46	and	and	CCONJ
fcis-1629	76	47	key	key	ADJ
fcis-1629	76	48	input	input	NOUN
fcis-1629	76	49	matrix	matrix	NOUN
fcis-1629	76	50	.	.	PUNCT
fcis-1629	77	1	3	3	X
fcis-1629	77	2	.	.	X
fcis-1629	77	3	experiment	experiment	NOUN
fcis-1629	77	4	3.1	3.1	NUM
fcis-1629	77	5	.	.	PUNCT
fcis-1629	78	1	experiment	experiment	NOUN
fcis-1629	78	2	setting	set	VERB
fcis-1629	78	3	kitti	kitti	PROPN
fcis-1629	78	4	dataset	dataset	NOUN
fcis-1629	78	5	:	:	PUNCT
fcis-1629	78	6	the	the	DET
fcis-1629	78	7	kitti	kitti	PROPN
fcis-1629	78	8	dataset	dataset	PROPN
fcis-1629	78	9	provides	provide	VERB
fcis-1629	78	10	7481	7481	NUM
fcis-1629	78	11	training	training	NOUN
fcis-1629	78	12	samples	sample	NOUN
fcis-1629	78	13	and	and	CCONJ
fcis-1629	78	14	7518	7518	NUM
fcis-1629	78	15	test	test	NOUN
fcis-1629	78	16	samples	sample	NOUN
fcis-1629	78	17	.	.	PUNCT
fcis-1629	79	1	the	the	DET
fcis-1629	79	2	training	training	NOUN
fcis-1629	79	3	samples	sample	NOUN
fcis-1629	79	4	are	be	AUX
fcis-1629	79	5	provided	provide	VERB
fcis-1629	79	6	with	with	ADP
fcis-1629	79	7	annotated	annotate	VERB
fcis-1629	79	8	of	of	ADP
fcis-1629	79	9	car	car	NOUN
fcis-1629	79	10	,	,	PUNCT
fcis-1629	79	11	pedestrain	pedestrain	NOUN
fcis-1629	79	12	,	,	PUNCT
fcis-1629	79	13	and	and	CCONJ
fcis-1629	79	14	cyclist	cyclist	ADJ
fcis-1629	79	15	categories	category	NOUN
fcis-1629	79	16	.	.	PUNCT
fcis-1629	80	1	in	in	ADP
fcis-1629	80	2	this	this	DET
fcis-1629	80	3	paper	paper	NOUN
fcis-1629	80	4	,	,	PUNCT
fcis-1629	80	5	we	we	PRON
fcis-1629	80	6	following	follow	VERB
fcis-1629	80	7	the	the	DET
fcis-1629	80	8	common	common	ADJ
fcis-1629	80	9	protocal	protocal	NOUN
fcis-1629	80	10	of	of	ADP
fcis-1629	80	11	[	[	X
fcis-1629	80	12	]	]	X
fcis-1629	80	13	,	,	PUNCT
fcis-1629	80	14	and	and	CCONJ
fcis-1629	80	15	dividing	divide	VERB
fcis-1629	80	16	these	these	DET
fcis-1629	80	17	trainig	trainig	NOUN
fcis-1629	80	18	samples	sample	NOUN
fcis-1629	80	19	into	into	ADP
fcis-1629	80	20	training	training	NOUN
fcis-1629	80	21	set	set	NOUN
fcis-1629	80	22	and	and	CCONJ
fcis-1629	80	23	validation	validation	NOUN
fcis-1629	80	24	set	set	NOUN
fcis-1629	80	25	.	.	PUNCT
fcis-1629	81	1	the	the	DET
fcis-1629	81	2	training	training	NOUN
fcis-1629	81	3	set	set	NOUN
fcis-1629	81	4	contain	contain	VERB
fcis-1629	81	5	3712	3712	NUM
fcis-1629	81	6	samples	sample	NOUN
fcis-1629	81	7	while	while	SCONJ
fcis-1629	81	8	validation	validation	NOUN
fcis-1629	81	9	set	set	NOUN
fcis-1629	81	10	contain	contain	VERB
fcis-1629	81	11	3769	3769	NUM
fcis-1629	81	12	samples	sample	NOUN
fcis-1629	81	13	.	.	PUNCT
fcis-1629	82	1	each	each	DET
fcis-1629	82	2	category	category	NOUN
fcis-1629	82	3	objects	object	NOUN
fcis-1629	82	4	are	be	AUX
fcis-1629	82	5	split	split	VERB
fcis-1629	82	6	into	into	ADP
fcis-1629	82	7	three	three	NUM
fcis-1629	82	8	levels	level	NOUN
fcis-1629	82	9	based	base	VERB
fcis-1629	82	10	on	on	ADP
fcis-1629	82	11	occlusion	occlusion	NOUN
fcis-1629	82	12	and	and	CCONJ
fcis-1629	82	13	their	their	PRON
fcis-1629	82	14	distance	distance	NOUN
fcis-1629	82	15	from	from	ADP
fcis-1629	82	16	the	the	DET
fcis-1629	82	17	lidar	lidar	NOUN
fcis-1629	82	18	sensor	sensor	NOUN
fcis-1629	82	19	.	.	PUNCT
fcis-1629	83	1	as	as	SCONJ
fcis-1629	83	2	the	the	DET
fcis-1629	83	3	test	test	NOUN
fcis-1629	83	4	set	set	NOUN
fcis-1629	83	5	do	do	AUX
fcis-1629	83	6	not	not	PART
fcis-1629	83	7	have	have	VERB
fcis-1629	83	8	the	the	DET
fcis-1629	83	9	ground	ground	NOUN
fcis-1629	83	10	-	-	PUNCT
fcis-1629	83	11	truth	truth	NOUN
fcis-1629	83	12	labels	label	NOUN
fcis-1629	83	13	,	,	PUNCT
fcis-1629	83	14	we	we	PRON
fcis-1629	83	15	need	need	VERB
fcis-1629	83	16	to	to	PART
fcis-1629	83	17	submit	submit	VERB
fcis-1629	83	18	the	the	DET
fcis-1629	83	19	prediction	prediction	NOUN
fcis-1629	83	20	results	result	NOUN
fcis-1629	83	21	to	to	ADP
fcis-1629	83	22	the	the	DET
fcis-1629	83	23	kitti	kitti	PROPN
fcis-1629	83	24	official	official	ADJ
fcis-1629	83	25	test	test	NOUN
fcis-1629	83	26	server	server	NOUN
fcis-1629	83	27	to	to	PART
fcis-1629	83	28	get	get	VERB
fcis-1629	83	29	the	the	DET
fcis-1629	83	30	final	final	ADJ
fcis-1629	83	31	result	result	NOUN
fcis-1629	83	32	.	.	PUNCT
fcis-1629	84	1	implement	implement	VERB
fcis-1629	84	2	setting	set	VERB
fcis-1629	84	3	:	:	PUNCT
fcis-1629	84	4	we	we	PRON
fcis-1629	84	5	adopt	adopt	VERB
fcis-1629	84	6	the	the	DET
fcis-1629	84	7	adam	adam	PROPN
fcis-1629	85	1	[	[	X
fcis-1629	85	2	]	]	X
fcis-1629	85	3	optimizer	optimizer	NOUN
fcis-1629	85	4	and	and	CCONJ
fcis-1629	85	5	onecycle	onecycle	NOUN
fcis-1629	85	6	learning	learn	VERB
fcis-1629	85	7	rate	rate	NOUN
fcis-1629	85	8	shedule	shedule	NOUN
fcis-1629	85	9	methods	method	NOUN
fcis-1629	85	10	.	.	PUNCT
fcis-1629	86	1	we	we	PRON
fcis-1629	86	2	train	train	VERB
fcis-1629	86	3	our	our	PRON
fcis-1629	86	4	model	model	NOUN
fcis-1629	86	5	80	80	NUM
fcis-1629	86	6	epoches	epoch	NOUN
fcis-1629	86	7	on	on	ADP
fcis-1629	86	8	the	the	DET
fcis-1629	86	9	kitti	kitti	PROPN
fcis-1629	86	10	dataset	dataset	PROPN
fcis-1629	86	11	.	.	PUNCT
fcis-1629	87	1	the	the	DET
fcis-1629	87	2	init	init	PROPN
fcis-1629	87	3	learning	learning	PROPN
fcis-1629	87	4	rate	rate	NOUN
fcis-1629	87	5	is	be	AUX
fcis-1629	87	6	set	set	VERB
fcis-1629	87	7	at	at	ADP
fcis-1629	87	8	0.003	0.003	NUM
fcis-1629	87	9	and	and	CCONJ
fcis-1629	87	10	the	the	DET
fcis-1629	87	11	lower	low	ADJ
fcis-1629	87	12	-	-	PUNCT
fcis-1629	87	13	upper	upper	NOUN
fcis-1629	87	14	is	be	AUX
fcis-1629	87	15	set	set	VERB
fcis-1629	87	16	at	at	ADP
fcis-1629	87	17	0.0000001	0.0000001	NUM
fcis-1629	87	18	.	.	PUNCT
fcis-1629	88	1	our	our	PRON
fcis-1629	88	2	detector	detector	NOUN
fcis-1629	88	3	will	will	AUX
fcis-1629	88	4	contain	contain	VERB
fcis-1629	88	5	5	5	NUM
fcis-1629	88	6	transformer	transformer	NOUN
fcis-1629	88	7	encoder	encoder	NOUN
fcis-1629	88	8	blocks	block	NOUN
fcis-1629	88	9	and	and	CCONJ
fcis-1629	88	10	5	5	NUM
fcis-1629	88	11	transformer	transformer	NOUN
fcis-1629	88	12	decoder	decoder	NOUN
fcis-1629	88	13	blocks	block	NOUN
fcis-1629	88	14	.	.	PUNCT
fcis-1629	89	1	experiment	experiment	NOUN
fcis-1629	89	2	environment	environment	NOUN
fcis-1629	89	3	:	:	PUNCT
fcis-1629	89	4	our	our	PRON
fcis-1629	89	5	local	local	ADJ
fcis-1629	89	6	server	server	NOUN
fcis-1629	89	7	adopts	adopt	VERB
fcis-1629	89	8	a	a	DET
fcis-1629	89	9	core	core	NOUN
fcis-1629	89	10	i9	i9	NOUN
fcis-1629	89	11	10980xe	10980xe	NOUN
fcis-1629	89	12	with	with	ADP
fcis-1629	89	13	two	two	NUM
fcis-1629	89	14	rtx	rtx	PROPN
fcis-1629	89	15	3090	3090	NUM
fcis-1629	89	16	gpu	gpu	NOUN
fcis-1629	89	17	.	.	PUNCT
fcis-1629	90	1	the	the	DET
fcis-1629	90	2	local	local	ADJ
fcis-1629	90	3	server	server	NOUN
fcis-1629	90	4	deploys	deploy	VERB
fcis-1629	90	5	the	the	DET
fcis-1629	90	6	ubuntu	ubuntu	ADJ
fcis-1629	90	7	20.04	20.04	NUM
fcis-1629	90	8	systems	system	NOUN
fcis-1629	90	9	with	with	ADP
fcis-1629	90	10	python	python	PROPN
fcis-1629	90	11	3.8	3.8	NUM
fcis-1629	90	12	and	and	CCONJ
fcis-1629	90	13	pytorch	pytorch	NOUN
fcis-1629	90	14	1.8.1	1.8.1	NUM
fcis-1629	90	15	.	.	PROPN
fcis-1629	90	16	3.2	3.2	NUM
fcis-1629	90	17	.	.	PUNCT
fcis-1629	91	1	comparision	comparision	NOUN
fcis-1629	91	2	on	on	ADP
fcis-1629	91	3	kitti	kitti	PROPN
fcis-1629	91	4	we	we	PRON
fcis-1629	91	5	compare	compare	VERB
fcis-1629	91	6	our	our	PRON
fcis-1629	91	7	method	method	NOUN
fcis-1629	91	8	with	with	ADP
fcis-1629	91	9	state	state	NOUN
fcis-1629	91	10	-	-	PUNCT
fcis-1629	91	11	of	of	ADP
fcis-1629	91	12	-	-	PUNCT
fcis-1629	91	13	the	the	DET
fcis-1629	91	14	-	-	PUNCT
fcis-1629	91	15	art	art	NOUN
fcis-1629	91	16	3d	3d	NUM
fcis-1629	91	17	detector	detector	NOUN
fcis-1629	91	18	in	in	ADP
fcis-1629	91	19	kitti	kitti	PROPN
fcis-1629	91	20	validation	validation	PROPN
fcis-1629	91	21	set	set	NOUN
fcis-1629	91	22	and	and	CCONJ
fcis-1629	91	23	test	test	NOUN
fcis-1629	91	24	set	set	VERB
fcis-1629	91	25	.	.	PUNCT
fcis-1629	92	1	the	the	DET
fcis-1629	92	2	results	result	NOUN
fcis-1629	92	3	of	of	ADP
fcis-1629	92	4	validation	validation	NOUN
fcis-1629	92	5	set	set	NOUN
fcis-1629	92	6	are	be	AUX
fcis-1629	92	7	come	come	VERB
fcis-1629	92	8	from	from	ADP
fcis-1629	92	9	our	our	PRON
fcis-1629	92	10	local	local	ADJ
fcis-1629	92	11	experiment	experiment	NOUN
fcis-1629	92	12	by	by	ADP
fcis-1629	92	13	running	run	VERB
fcis-1629	92	14	those	those	DET
fcis-1629	92	15	detector	detector	NOUN
fcis-1629	92	16	’s	’s	PART
fcis-1629	92	17	official	official	ADJ
fcis-1629	92	18	release	release	NOUN
fcis-1629	92	19	code	code	NOUN
fcis-1629	92	20	.	.	PUNCT
fcis-1629	93	1	and	and	CCONJ
fcis-1629	93	2	these	these	DET
fcis-1629	93	3	results	result	NOUN
fcis-1629	93	4	are	be	AUX
fcis-1629	93	5	shown	show	VERB
fcis-1629	93	6	in	in	ADP
fcis-1629	93	7	table1	table1	PROPN
fcis-1629	93	8	and	and	CCONJ
fcis-1629	93	9	table2	table2	PROPN
fcis-1629	93	10	.	.	PUNCT
fcis-1629	94	1	the	the	DET
fcis-1629	94	2	results	result	NOUN
fcis-1629	94	3	of	of	ADP
fcis-1629	94	4	test	test	NOUN
fcis-1629	94	5	set	set	NOUN
fcis-1629	94	6	are	be	AUX
fcis-1629	94	7	come	come	VERB
fcis-1629	94	8	from	from	ADP
fcis-1629	94	9	the	the	DET
fcis-1629	94	10	kitti	kitti	PROPN
fcis-1629	94	11	official	official	ADJ
fcis-1629	94	12	benchmark	benchmark	NOUN
fcis-1629	94	13	.	.	PUNCT
fcis-1629	95	1	the	the	DET
fcis-1629	95	2	test	test	NOUN
fcis-1629	95	3	results	result	NOUN
fcis-1629	95	4	are	be	AUX
fcis-1629	95	5	shown	show	VERB
fcis-1629	95	6	in	in	ADP
fcis-1629	95	7	table3	table3	PROPN
fcis-1629	95	8	.	.	PUNCT
fcis-1629	96	1	we	we	PRON
fcis-1629	96	2	adopt	adopt	VERB
fcis-1629	96	3	the	the	DET
fcis-1629	96	4	3d	3d	NUM
fcis-1629	96	5	average	average	ADJ
fcis-1629	96	6	precision	precision	NOUN
fcis-1629	96	7	(	(	PUNCT
fcis-1629	96	8	ap	ap	PROPN
fcis-1629	96	9	)	)	PUNCT
fcis-1629	96	10	and	and	CCONJ
fcis-1629	96	11	bird’seye	bird’seye	NOUN
fcis-1629	96	12	-	-	PUNCT
fcis-1629	96	13	view	view	NOUN
fcis-1629	96	14	average	average	ADJ
fcis-1629	96	15	precision	precision	NOUN
fcis-1629	96	16	(	(	PUNCT
fcis-1629	96	17	bev	bev	PROPN
fcis-1629	96	18	ap	ap	PROPN
fcis-1629	96	19	)	)	PUNCT
fcis-1629	96	20	as	as	ADP
fcis-1629	96	21	metric	metric	ADJ
fcis-1629	96	22	.	.	PUNCT
fcis-1629	97	1	from	from	ADP
fcis-1629	97	2	the	the	DET
fcis-1629	97	3	result	result	NOUN
fcis-1629	97	4	of	of	ADP
fcis-1629	97	5	table	table	NOUN
fcis-1629	97	6	1	1	NUM
fcis-1629	97	7	,	,	PUNCT
fcis-1629	97	8	we	we	PRON
fcis-1629	97	9	can	can	AUX
fcis-1629	97	10	see	see	VERB
fcis-1629	97	11	that	that	SCONJ
fcis-1629	97	12	our	our	PRON
fcis-1629	97	13	methods	method	NOUN
fcis-1629	97	14	could	could	AUX
fcis-1629	97	15	achieve	achieve	VERB
fcis-1629	97	16	a	a	DET
fcis-1629	97	17	significantly	significantly	ADV
fcis-1629	97	18	better	well	ADJ
fcis-1629	97	19	performance	performance	NOUN
fcis-1629	97	20	than	than	ADP
fcis-1629	97	21	other	other	ADJ
fcis-1629	97	22	one	one	NUM
fcis-1629	97	23	-	-	PUNCT
fcis-1629	97	24	stage	stage	NOUN
fcis-1629	97	25	detectors	detector	NOUN
fcis-1629	97	26	.	.	PUNCT
fcis-1629	98	1	even	even	ADV
fcis-1629	98	2	compared	compare	VERB
fcis-1629	98	3	with	with	ADP
fcis-1629	98	4	some	some	DET
fcis-1629	98	5	two	two	NUM
fcis-1629	98	6	-	-	PUNCT
fcis-1629	98	7	stage	stage	NOUN
fcis-1629	98	8	30	30	NUM
fcis-1629	98	9	methods	method	NOUN
fcis-1629	98	10	,	,	PUNCT
fcis-1629	98	11	our	our	PRON
fcis-1629	98	12	method	method	NOUN
fcis-1629	98	13	’s	’s	PART
fcis-1629	98	14	accuracy	accuracy	NOUN
fcis-1629	98	15	is	be	AUX
fcis-1629	98	16	still	still	ADV
fcis-1629	98	17	having	have	VERB
fcis-1629	98	18	considerable	considerable	ADJ
fcis-1629	98	19	competitiveness	competitiveness	NOUN
fcis-1629	98	20	.	.	PUNCT
fcis-1629	99	1	in	in	ADP
fcis-1629	99	2	the	the	DET
fcis-1629	99	3	car	car	NOUN
fcis-1629	99	4	category	category	NOUN
fcis-1629	99	5	objects	object	VERB
fcis-1629	99	6	with	with	ADP
fcis-1629	99	7	moderate	moderate	ADJ
fcis-1629	99	8	difficulty	difficulty	NOUN
fcis-1629	99	9	level	level	NOUN
fcis-1629	99	10	,	,	PUNCT
fcis-1629	99	11	our	our	PRON
fcis-1629	99	12	method	method	NOUN
fcis-1629	99	13	outperforms	outperform	VERB
fcis-1629	99	14	the	the	DET
fcis-1629	99	15	second	second	ADJ
fcis-1629	99	16	with	with	ADP
fcis-1629	99	17	xxx	xxx	NOUN
fcis-1629	99	18	points	point	NOUN
fcis-1629	99	19	3d	3d	PROPN
fcis-1629	99	20	ap	ap	PROPN
fcis-1629	99	21	,	,	PUNCT
fcis-1629	99	22	outperform	outperform	VERB
fcis-1629	99	23	the	the	DET
fcis-1629	99	24	pointpillar	pointpillar	ADJ
fcis-1629	99	25	with	with	ADP
fcis-1629	99	26	xxx	xxx	PROPN
fcis-1629	99	27	points	point	NOUN
fcis-1629	99	28	3d	3d	PROPN
fcis-1629	99	29	ap	ap	PROPN
fcis-1629	99	30	,	,	PUNCT
fcis-1629	99	31	and	and	CCONJ
fcis-1629	99	32	outperform	outperform	VERB
fcis-1629	99	33	the	the	DET
fcis-1629	99	34	cia	cia	PROPN
fcis-1629	99	35	-	-	PUNCT
fcis-1629	99	36	ssd	ssd	NOUN
fcis-1629	99	37	with	with	ADP
fcis-1629	99	38	xxx	xxx	PROPN
fcis-1629	99	39	points	point	NOUN
fcis-1629	99	40	3d	3d	PROPN
fcis-1629	99	41	ap	ap	PROPN
fcis-1629	99	42	.	.	PUNCT
fcis-1629	100	1	in	in	ADP
fcis-1629	100	2	the	the	DET
fcis-1629	100	3	car	car	NOUN
fcis-1629	100	4	category	category	NOUN
fcis-1629	100	5	objects	object	VERB
fcis-1629	100	6	with	with	ADP
fcis-1629	100	7	hard	hard	ADJ
fcis-1629	100	8	level	level	NOUN
fcis-1629	100	9	difficulty	difficulty	NOUN
fcis-1629	100	10	,	,	PUNCT
fcis-1629	100	11	our	our	PRON
fcis-1629	100	12	method	method	NOUN
fcis-1629	100	13	outperforms	outperform	VERB
fcis-1629	100	14	the	the	DET
fcis-1629	100	15	second	second	ADJ
fcis-1629	100	16	with	with	ADP
fcis-1629	100	17	xxx	xxx	NOUN
fcis-1629	100	18	points	point	NOUN
fcis-1629	100	19	3d	3d	PROPN
fcis-1629	100	20	ap	ap	PROPN
fcis-1629	100	21	,	,	PUNCT
fcis-1629	100	22	outperform	outperform	VERB
fcis-1629	100	23	the	the	DET
fcis-1629	100	24	pointpillar	pointpillar	ADJ
fcis-1629	100	25	with	with	ADP
fcis-1629	100	26	xxx	xxx	PROPN
fcis-1629	100	27	points	point	NOUN
fcis-1629	100	28	3d	3d	PROPN
fcis-1629	100	29	ap	ap	PROPN
fcis-1629	100	30	,	,	PUNCT
fcis-1629	100	31	and	and	CCONJ
fcis-1629	100	32	outperform	outperform	VERB
fcis-1629	100	33	the	the	DET
fcis-1629	100	34	cia	cia	PROPN
fcis-1629	100	35	-	-	PUNCT
fcis-1629	100	36	ssd	ssd	NOUN
fcis-1629	100	37	with	with	ADP
fcis-1629	100	38	xxx	xxx	PROPN
fcis-1629	100	39	points	point	NOUN
fcis-1629	100	40	3d	3d	PROPN
fcis-1629	100	41	ap	ap	PROPN
fcis-1629	100	42	.	.	PUNCT
fcis-1629	101	1	in	in	ADP
fcis-1629	101	2	the	the	DET
fcis-1629	101	3	pedestrain	pedestrain	NOUN
fcis-1629	101	4	category	category	NOUN
fcis-1629	101	5	objects	object	VERB
fcis-1629	101	6	with	with	ADP
fcis-1629	101	7	moderate	moderate	ADJ
fcis-1629	101	8	level	level	NOUN
fcis-1629	101	9	difficulty	difficulty	NOUN
fcis-1629	101	10	,	,	PUNCT
fcis-1629	101	11	our	our	PRON
fcis-1629	101	12	method	method	NOUN
fcis-1629	101	13	outperforms	outperform	VERB
fcis-1629	101	14	the	the	DET
fcis-1629	101	15	second	second	ADJ
fcis-1629	101	16	with	with	ADP
fcis-1629	101	17	xxx	xxx	NOUN
fcis-1629	101	18	points	point	NOUN
fcis-1629	101	19	3d	3d	PROPN
fcis-1629	101	20	ap	ap	PROPN
fcis-1629	101	21	,	,	PUNCT
fcis-1629	101	22	outperform	outperform	VERB
fcis-1629	101	23	the	the	DET
fcis-1629	101	24	pointpillar	pointpillar	ADJ
fcis-1629	101	25	with	with	ADP
fcis-1629	101	26	xxx	xxx	PROPN
fcis-1629	101	27	points	point	NOUN
fcis-1629	101	28	3d	3d	PROPN
fcis-1629	101	29	ap	ap	PROPN
fcis-1629	101	30	,	,	PUNCT
fcis-1629	101	31	and	and	CCONJ
fcis-1629	101	32	outperform	outperform	VERB
fcis-1629	101	33	the	the	DET
fcis-1629	101	34	cia	cia	PROPN
fcis-1629	101	35	-	-	PUNCT
fcis-1629	101	36	ssd	ssd	NOUN
fcis-1629	101	37	with	with	ADP
fcis-1629	101	38	xxx	xxx	PROPN
fcis-1629	101	39	points	point	NOUN
fcis-1629	101	40	3d	3d	PROPN
fcis-1629	101	41	ap	ap	PROPN
fcis-1629	101	42	.	.	PUNCT
fcis-1629	102	1	in	in	ADP
fcis-1629	102	2	the	the	DET
fcis-1629	102	3	cyclist	cyclist	ADJ
fcis-1629	102	4	category	category	NOUN
fcis-1629	102	5	objects	object	VERB
fcis-1629	102	6	with	with	ADP
fcis-1629	102	7	moderate	moderate	ADJ
fcis-1629	102	8	difficulty	difficulty	NOUN
fcis-1629	102	9	level	level	NOUN
fcis-1629	102	10	,	,	PUNCT
fcis-1629	102	11	our	our	PRON
fcis-1629	102	12	method	method	NOUN
fcis-1629	102	13	outperforms	outperform	VERB
fcis-1629	102	14	the	the	DET
fcis-1629	102	15	second	second	ADJ
fcis-1629	102	16	with	with	ADP
fcis-1629	102	17	xxx	xxx	NOUN
fcis-1629	102	18	points	point	NOUN
fcis-1629	102	19	3d	3d	PROPN
fcis-1629	102	20	ap	ap	PROPN
fcis-1629	102	21	,	,	PUNCT
fcis-1629	102	22	outperform	outperform	VERB
fcis-1629	102	23	the	the	DET
fcis-1629	102	24	pointpillar	pointpillar	ADJ
fcis-1629	102	25	with	with	ADP
fcis-1629	102	26	xxx	xxx	PROPN
fcis-1629	102	27	points	point	NOUN
fcis-1629	102	28	3d	3d	PROPN
fcis-1629	102	29	ap	ap	PROPN
fcis-1629	102	30	,	,	PUNCT
fcis-1629	102	31	and	and	CCONJ
fcis-1629	102	32	outperform	outperform	VERB
fcis-1629	102	33	the	the	DET
fcis-1629	102	34	cia	cia	PROPN
fcis-1629	102	35	-	-	PUNCT
fcis-1629	102	36	ssd	ssd	NOUN
fcis-1629	102	37	with	with	ADP
fcis-1629	102	38	xxx	xxx	PROPN
fcis-1629	102	39	points	point	NOUN
fcis-1629	102	40	3d	3d	PROPN
fcis-1629	102	41	ap	ap	PROPN
fcis-1629	102	42	.	.	PUNCT
fcis-1629	103	1	in	in	ADP
fcis-1629	103	2	the	the	DET
fcis-1629	103	3	results	result	NOUN
fcis-1629	103	4	of	of	ADP
fcis-1629	103	5	table	table	NOUN
fcis-1629	103	6	2	2	NUM
fcis-1629	103	7	,	,	PUNCT
fcis-1629	103	8	our	our	PRON
fcis-1629	103	9	method	method	NOUN
fcis-1629	103	10	still	still	ADV
fcis-1629	103	11	has	have	VERB
fcis-1629	103	12	a	a	DET
fcis-1629	103	13	clear	clear	ADJ
fcis-1629	103	14	margin	margin	NOUN
fcis-1629	103	15	with	with	ADP
fcis-1629	103	16	other	other	ADJ
fcis-1629	103	17	listed	list	VERB
fcis-1629	103	18	one	one	NUM
fcis-1629	103	19	-	-	PUNCT
fcis-1629	103	20	stage	stage	NOUN
fcis-1629	103	21	3d	3d	NUM
fcis-1629	103	22	detectors	detector	NOUN
fcis-1629	103	23	.	.	PUNCT
fcis-1629	104	1	it	it	PRON
fcis-1629	104	2	proves	prove	VERB
fcis-1629	104	3	that	that	SCONJ
fcis-1629	104	4	our	our	PRON
fcis-1629	104	5	proposed	propose	VERB
fcis-1629	104	6	detector	detector	NOUN
fcis-1629	104	7	could	could	AUX
fcis-1629	104	8	stride	stride	VERB
fcis-1629	104	9	a	a	DET
fcis-1629	104	10	better	well	ADJ
fcis-1629	104	11	balance	balance	NOUN
fcis-1629	104	12	between	between	ADP
fcis-1629	104	13	speeds	speed	NOUN
fcis-1629	104	14	and	and	CCONJ
fcis-1629	104	15	accuracy	accuracy	NOUN
fcis-1629	104	16	than	than	ADP
fcis-1629	104	17	other	other	ADJ
fcis-1629	104	18	3d	3d	NUM
fcis-1629	104	19	detection	detection	NOUN
fcis-1629	104	20	methods	method	NOUN
fcis-1629	104	21	.	.	PUNCT
fcis-1629	105	1	4	4	X
fcis-1629	105	2	.	.	X
fcis-1629	105	3	conclusion	conclusion	NOUN
fcis-1629	105	4	in	in	ADP
fcis-1629	105	5	this	this	DET
fcis-1629	105	6	paper	paper	NOUN
fcis-1629	105	7	,	,	PUNCT
fcis-1629	105	8	we	we	PRON
fcis-1629	105	9	proposed	propose	VERB
fcis-1629	105	10	a	a	DET
fcis-1629	105	11	multi	multi	ADJ
fcis-1629	105	12	-	-	ADJ
fcis-1629	105	13	stage	stage	ADJ
fcis-1629	105	14	transformer	transformer	NOUN
fcis-1629	105	15	3d	3d	NUM
fcis-1629	105	16	object	object	NOUN
fcis-1629	105	17	detection	detection	NOUN
fcis-1629	105	18	method	method	NOUN
fcis-1629	105	19	.	.	PUNCT
fcis-1629	106	1	in	in	ADP
fcis-1629	106	2	this	this	DET
fcis-1629	106	3	framework	framework	NOUN
fcis-1629	106	4	,	,	PUNCT
fcis-1629	106	5	a	a	DET
fcis-1629	106	6	fast	fast	ADJ
fcis-1629	106	7	version	version	NOUN
fcis-1629	106	8	transformer	transformer	NOUN
fcis-1629	106	9	3d	3d	NUM
fcis-1629	106	10	encoder	encoder	NOUN
fcis-1629	106	11	block	block	NOUN
fcis-1629	106	12	is	be	AUX
fcis-1629	106	13	proposed	propose	VERB
fcis-1629	106	14	to	to	PART
fcis-1629	106	15	combine	combine	VERB
fcis-1629	106	16	the	the	DET
fcis-1629	106	17	ball	ball	NOUN
fcis-1629	106	18	-	-	PUNCT
fcis-1629	106	19	query	query	NOUN
fcis-1629	106	20	group	group	NOUN
fcis-1629	106	21	downsample	downsample	NOUN
fcis-1629	106	22	methods	method	NOUN
fcis-1629	106	23	to	to	PART
fcis-1629	106	24	learn	learn	VERB
fcis-1629	106	25	feature	feature	NOUN
fcis-1629	106	26	from	from	ADP
fcis-1629	106	27	the	the	DET
fcis-1629	106	28	origin	origin	NOUN
fcis-1629	106	29	point	point	NOUN
fcis-1629	106	30	cloud	cloud	ADJ
fcis-1629	106	31	space	space	NOUN
fcis-1629	106	32	.	.	PUNCT
fcis-1629	107	1	then	then	ADV
fcis-1629	107	2	,	,	PUNCT
fcis-1629	107	3	a	a	DET
fcis-1629	107	4	mult	mult	NOUN
fcis-1629	107	5	-	-	PUNCT
fcis-1629	107	6	stage	stage	NOUN
fcis-1629	107	7	transformer	transformer	NOUN
fcis-1629	107	8	3d	3d	NUM
fcis-1629	107	9	decoder	decoder	NOUN
fcis-1629	107	10	is	be	AUX
fcis-1629	107	11	added	add	VERB
fcis-1629	107	12	to	to	PART
fcis-1629	107	13	collect	collect	VERB
fcis-1629	107	14	information	information	NOUN
fcis-1629	107	15	from	from	ADP
fcis-1629	107	16	the	the	DET
fcis-1629	107	17	3d	3d	PROPN
fcis-1629	107	18	encoder	encoder	NOUN
fcis-1629	107	19	’s	’s	PART
fcis-1629	107	20	temporal	temporal	ADJ
fcis-1629	107	21	output	output	NOUN
fcis-1629	107	22	.	.	PUNCT
fcis-1629	108	1	extensive	extensive	ADJ
fcis-1629	108	2	experiments	experiment	NOUN
fcis-1629	108	3	results	result	NOUN
fcis-1629	108	4	show	show	VERB
fcis-1629	108	5	that	that	SCONJ
fcis-1629	108	6	our	our	PRON
fcis-1629	108	7	method	method	NOUN
fcis-1629	108	8	hav	hav	VERB
fcis-1629	108	9	a	a	DET
fcis-1629	108	10	significant	significant	ADJ
fcis-1629	108	11	better	well	ADJ
fcis-1629	108	12	performance	performance	NOUN
fcis-1629	108	13	than	than	ADP
fcis-1629	108	14	other	other	ADJ
fcis-1629	108	15	one	one	NUM
fcis-1629	108	16	-	-	PUNCT
fcis-1629	108	17	stage	stage	NOUN
fcis-1629	108	18	detectors	detector	NOUN
fcis-1629	108	19	.	.	PUNCT
fcis-1629	109	1	in	in	ADP
fcis-1629	109	2	the	the	DET
fcis-1629	109	3	future	future	NOUN
fcis-1629	109	4	,	,	PUNCT
fcis-1629	109	5	we	we	PRON
fcis-1629	109	6	will	will	AUX
fcis-1629	109	7	attempt	attempt	VERB
fcis-1629	109	8	to	to	PART
fcis-1629	109	9	integrate	integrate	VERB
fcis-1629	109	10	the	the	DET
fcis-1629	109	11	multi	multi	ADJ
fcis-1629	109	12	-	-	ADJ
fcis-1629	109	13	modal	modal	ADJ
fcis-1629	109	14	methods	method	NOUN
fcis-1629	109	15	with	with	ADP
fcis-1629	109	16	this	this	DET
fcis-1629	109	17	framework	framework	NOUN
fcis-1629	109	18	.	.	PUNCT
fcis-1629	110	1	references	reference	NOUN
fcis-1629	110	2	[	[	X
fcis-1629	110	3	1	1	X
fcis-1629	110	4	]	]	PUNCT
fcis-1629	110	5	y.	y.	PROPN
fcis-1629	110	6	zhou	zhou	PROPN
fcis-1629	110	7	and	and	CCONJ
fcis-1629	110	8	o.	o.	PROPN
fcis-1629	110	9	tuzel	tuzel	PROPN
fcis-1629	110	10	,	,	PUNCT
fcis-1629	110	11	‘	'	PUNCT
fcis-1629	110	12	voxelnet	voxelnet	NOUN
fcis-1629	110	13	:	:	PUNCT
fcis-1629	110	14	end	end	NOUN
fcis-1629	110	15	-	-	PUNCT
fcis-1629	110	16	to	to	ADP
fcis-1629	110	17	-	-	PUNCT
fcis-1629	110	18	end	end	NOUN
fcis-1629	110	19	learning	learning	NOUN
fcis-1629	110	20	for	for	ADP
fcis-1629	110	21	point	point	NOUN
fcis-1629	110	22	cloud	cloud	NOUN
fcis-1629	110	23	based	base	VERB
fcis-1629	110	24	3d	3d	NUM
fcis-1629	110	25	object	object	NOUN
fcis-1629	110	26	detection	detection	NOUN
fcis-1629	110	27	’	'	PUNCT
fcis-1629	110	28	,	,	PUNCT
fcis-1629	110	29	in	in	ADP
fcis-1629	110	30	proceedings	proceeding	NOUN
fcis-1629	110	31	of	of	ADP
fcis-1629	110	32	the	the	DET
fcis-1629	110	33	ieee	ieee	NOUN
fcis-1629	110	34	conference	conference	NOUN
fcis-1629	110	35	on	on	ADP
fcis-1629	110	36	computer	computer	NOUN
fcis-1629	110	37	vision	vision	NOUN
fcis-1629	110	38	and	and	CCONJ
fcis-1629	110	39	pattern	pattern	NOUN
fcis-1629	110	40	recognition	recognition	NOUN
fcis-1629	110	41	,	,	PUNCT
fcis-1629	110	42	2018	2018	NUM
fcis-1629	110	43	,	,	PUNCT
fcis-1629	110	44	pp	pp	ADJ
fcis-1629	110	45	.	.	PUNCT
fcis-1629	111	1	4490–4499	4490–4499	NUM
fcis-1629	111	2	.	.	PUNCT
fcis-1629	112	1	[	[	X
fcis-1629	112	2	2	2	NUM
fcis-1629	112	3	]	]	X
fcis-1629	112	4	y.	y.	PROPN
fcis-1629	112	5	yan	yan	PROPN
fcis-1629	112	6	,	,	PUNCT
fcis-1629	112	7	y.	y.	PROPN
fcis-1629	112	8	mao	mao	PROPN
fcis-1629	112	9	,	,	PUNCT
fcis-1629	112	10	and	and	CCONJ
fcis-1629	112	11	b.	b.	PROPN
fcis-1629	112	12	li	li	PROPN
fcis-1629	112	13	,	,	PUNCT
fcis-1629	112	14	‘	'	PUNCT
fcis-1629	112	15	second	second	ADJ
fcis-1629	112	16	:	:	PUNCT
fcis-1629	112	17	sparsely	sparsely	ADV
fcis-1629	112	18	embedded	embed	VERB
fcis-1629	112	19	convolutional	convolutional	ADJ
fcis-1629	112	20	detection	detection	NOUN
fcis-1629	112	21	’	'	PUNCT
fcis-1629	112	22	,	,	PUNCT
fcis-1629	112	23	sensors	sensor	NOUN
fcis-1629	112	24	,	,	PUNCT
fcis-1629	112	25	vol	vol	NOUN
fcis-1629	112	26	.	.	PROPN
fcis-1629	112	27	18	18	NUM
fcis-1629	112	28	,	,	PUNCT
fcis-1629	112	29	no	no	INTJ
fcis-1629	112	30	.	.	NOUN
fcis-1629	112	31	10	10	NUM
fcis-1629	112	32	,	,	PUNCT
fcis-1629	112	33	p.	p.	NOUN
fcis-1629	112	34	3337	3337	NUM
fcis-1629	112	35	,	,	PUNCT
fcis-1629	112	36	2018	2018	NUM
fcis-1629	112	37	.	.	PUNCT
fcis-1629	113	1	[	[	X
fcis-1629	113	2	3	3	NUM
fcis-1629	113	3	]	]	PUNCT
fcis-1629	113	4	a.	a.	PROPN
fcis-1629	113	5	h.	h.	PROPN
fcis-1629	113	6	lang	lang	PROPN
fcis-1629	113	7	,	,	PUNCT
fcis-1629	113	8	s.	s.	PROPN
fcis-1629	113	9	vora	vora	PROPN
fcis-1629	113	10	,	,	PUNCT
fcis-1629	113	11	h.	h.	PROPN
fcis-1629	113	12	caesar	caesar	PROPN
fcis-1629	113	13	,	,	PUNCT
fcis-1629	113	14	l.	l.	PROPN
fcis-1629	113	15	zhou	zhou	PROPN
fcis-1629	113	16	,	,	PUNCT
fcis-1629	113	17	j.	j.	PROPN
fcis-1629	113	18	yang	yang	PROPN
fcis-1629	113	19	,	,	PUNCT
fcis-1629	113	20	and	and	CCONJ
fcis-1629	113	21	o.	o.	PROPN
fcis-1629	113	22	beijbom	beijbom	NOUN
fcis-1629	113	23	,	,	PUNCT
fcis-1629	113	24	‘	'	PUNCT
fcis-1629	113	25	pointpillars	pointpillar	NOUN
fcis-1629	113	26	:	:	PUNCT
fcis-1629	113	27	fast	fast	ADJ
fcis-1629	113	28	encoders	encoder	NOUN
fcis-1629	113	29	for	for	ADP
fcis-1629	113	30	object	object	NOUN
fcis-1629	113	31	detection	detection	NOUN
fcis-1629	113	32	from	from	ADP
fcis-1629	113	33	point	point	NOUN
fcis-1629	113	34	clouds	cloud	NOUN
fcis-1629	113	35	’	'	PUNCT
fcis-1629	113	36	,	,	PUNCT
fcis-1629	113	37	in	in	ADP
fcis-1629	113	38	proceedings	proceeding	NOUN
fcis-1629	113	39	of	of	ADP
fcis-1629	113	40	the	the	DET
fcis-1629	113	41	ieee	ieee	NOUN
fcis-1629	113	42	/	/	SYM
fcis-1629	113	43	cvf	cvf	NOUN
fcis-1629	113	44	conference	conference	NOUN
fcis-1629	113	45	on	on	ADP
fcis-1629	113	46	computer	computer	NOUN
fcis-1629	113	47	vision	vision	NOUN
fcis-1629	113	48	and	and	CCONJ
fcis-1629	113	49	pattern	pattern	NOUN
fcis-1629	113	50	recognition	recognition	NOUN
fcis-1629	113	51	,	,	PUNCT
fcis-1629	113	52	2019	2019	NUM
fcis-1629	113	53	,	,	PUNCT
fcis-1629	113	54	pp	pp	ADJ
fcis-1629	113	55	.	.	PUNCT
fcis-1629	113	56	12697	12697	NUM
fcis-1629	113	57	–	–	PUNCT
fcis-1629	113	58	12705	12705	NUM
fcis-1629	113	59	.	.	PUNCT
fcis-1629	114	1	[	[	X
fcis-1629	114	2	4	4	X
fcis-1629	114	3	]	]	X
fcis-1629	114	4	g.	g.	PROPN
fcis-1629	114	5	zhang	zhang	PROPN
fcis-1629	114	6	,	,	PUNCT
fcis-1629	114	7	s.	s.	PROPN
fcis-1629	114	8	lu	lu	PROPN
fcis-1629	114	9	,	,	PUNCT
fcis-1629	114	10	and	and	CCONJ
fcis-1629	114	11	w.	w.	PROPN
fcis-1629	114	12	zhang	zhang	PROPN
fcis-1629	114	13	,	,	PUNCT
fcis-1629	114	14	‘	'	PUNCT
fcis-1629	114	15	cad	cad	NOUN
fcis-1629	114	16	-	-	NOUN
fcis-1629	114	17	net	net	NOUN
fcis-1629	114	18	:	:	PUNCT
fcis-1629	114	19	a	a	DET
fcis-1629	114	20	context	context	NOUN
fcis-1629	114	21	-	-	PUNCT
fcis-1629	114	22	aware	aware	ADJ
fcis-1629	114	23	detection	detection	NOUN
fcis-1629	114	24	network	network	NOUN
fcis-1629	114	25	for	for	ADP
fcis-1629	114	26	objects	object	NOUN
fcis-1629	114	27	in	in	ADP
fcis-1629	114	28	remote	remote	ADJ
fcis-1629	114	29	sensing	sense	VERB
fcis-1629	114	30	imagery	imagery	NOUN
fcis-1629	114	31	’	'	PUNCT
fcis-1629	114	32	,	,	PUNCT
fcis-1629	114	33	ieee	ieee	PROPN
fcis-1629	114	34	trans	trans	PROPN
fcis-1629	114	35	.	.	PUNCT
fcis-1629	115	1	geosci	geosci	PROPN
fcis-1629	115	2	.	.	PUNCT
fcis-1629	116	1	remote	remote	PROPN
fcis-1629	116	2	sens	sens	PROPN
fcis-1629	116	3	.	.	PROPN
fcis-1629	116	4	,	,	PUNCT
fcis-1629	116	5	vol	vol	NOUN
fcis-1629	116	6	.	.	PROPN
fcis-1629	117	1	57	57	NUM
fcis-1629	117	2	,	,	PUNCT
fcis-1629	117	3	no	no	INTJ
fcis-1629	117	4	.	.	NOUN
fcis-1629	117	5	12	12	NUM
fcis-1629	117	6	,	,	PUNCT
fcis-1629	117	7	pp	pp	ADJ
fcis-1629	117	8	.	.	PUNCT
fcis-1629	118	1	10015–10024	10015–10024	NUM
fcis-1629	118	2	,	,	PUNCT
fcis-1629	118	3	2019	2019	NUM
fcis-1629	118	4	.	.	PUNCT
fcis-1629	119	1	[	[	X
fcis-1629	119	2	5	5	X
fcis-1629	119	3	]	]	PUNCT
fcis-1629	119	4	w.	w.	PROPN
fcis-1629	119	5	zheng	zheng	PROPN
fcis-1629	119	6	,	,	PUNCT
fcis-1629	119	7	w.	w.	PROPN
fcis-1629	119	8	tang	tang	PROPN
fcis-1629	119	9	,	,	PUNCT
fcis-1629	119	10	s.	s.	PROPN
fcis-1629	119	11	chen	chen	PROPN
fcis-1629	119	12	,	,	PUNCT
fcis-1629	119	13	l.	l.	PROPN
fcis-1629	119	14	jiang	jiang	PROPN
fcis-1629	119	15	,	,	PUNCT
fcis-1629	119	16	and	and	CCONJ
fcis-1629	119	17	c.-w	c.-w	PROPN
fcis-1629	119	18	.	.	PUNCT
fcis-1629	119	19	fu	fu	PROPN
fcis-1629	119	20	,	,	PUNCT
fcis-1629	119	21	‘	'	PUNCT
fcis-1629	119	22	ciassd	ciassd	NOUN
fcis-1629	119	23	:	:	PUNCT
fcis-1629	119	24	confident	confident	ADJ
fcis-1629	119	25	iou	iou	NOUN
fcis-1629	119	26	-	-	PUNCT
fcis-1629	119	27	aware	aware	ADJ
fcis-1629	119	28	single	single	ADJ
fcis-1629	119	29	-	-	PUNCT
fcis-1629	119	30	stage	stage	NOUN
fcis-1629	119	31	object	object	NOUN
fcis-1629	119	32	detector	detector	NOUN
fcis-1629	119	33	from	from	ADP
fcis-1629	119	34	point	point	NOUN
fcis-1629	119	35	cloud	cloud	PROPN
fcis-1629	119	36	’	'	PUNCT
fcis-1629	119	37	,	,	PUNCT
fcis-1629	119	38	arxiv	arxiv	PROPN
fcis-1629	119	39	prepr	prepr	PROPN
fcis-1629	119	40	.	.	PUNCT
fcis-1629	119	41	arxiv201203015	arxiv201203015	PROPN
fcis-1629	119	42	,	,	PUNCT
fcis-1629	119	43	2020	2020	NUM
fcis-1629	119	44	.	.	PUNCT
fcis-1629	120	1	[	[	X
fcis-1629	120	2	6	6	NUM
fcis-1629	120	3	]	]	PUNCT
fcis-1629	120	4	c.	c.	PROPN
fcis-1629	120	5	he	he	PROPN
fcis-1629	120	6	,	,	PUNCT
fcis-1629	120	7	h.	h.	PROPN
fcis-1629	120	8	zeng	zeng	PROPN
fcis-1629	120	9	,	,	PUNCT
fcis-1629	120	10	j.	j.	PROPN
fcis-1629	120	11	huang	huang	PROPN
fcis-1629	120	12	,	,	PUNCT
fcis-1629	120	13	x.-s	x.-s	PROPN
fcis-1629	120	14	.	.	PUNCT
fcis-1629	120	15	hua	hua	PROPN
fcis-1629	120	16	,	,	PUNCT
fcis-1629	120	17	and	and	CCONJ
fcis-1629	120	18	l.	l.	PROPN
fcis-1629	120	19	zhang	zhang	PROPN
fcis-1629	120	20	,	,	PUNCT
fcis-1629	120	21	‘	'	PUNCT
fcis-1629	120	22	structure	structure	NOUN
fcis-1629	120	23	aware	aware	ADJ
fcis-1629	120	24	single	single	ADJ
fcis-1629	120	25	-	-	PUNCT
fcis-1629	120	26	stage	stage	NOUN
fcis-1629	120	27	3d	3d	NUM
fcis-1629	120	28	object	object	NOUN
fcis-1629	120	29	detection	detection	NOUN
fcis-1629	120	30	from	from	ADP
fcis-1629	120	31	point	point	NOUN
fcis-1629	120	32	cloud	cloud	NOUN
fcis-1629	120	33	’	'	PUNCT
fcis-1629	120	34	,	,	PUNCT
fcis-1629	120	35	in	in	ADP
fcis-1629	120	36	proceedings	proceeding	NOUN
fcis-1629	120	37	of	of	ADP
fcis-1629	120	38	the	the	DET
fcis-1629	120	39	ieee	ieee	NOUN
fcis-1629	120	40	/	/	SYM
fcis-1629	120	41	cvf	cvf	NOUN
fcis-1629	120	42	conference	conference	NOUN
fcis-1629	120	43	on	on	ADP
fcis-1629	120	44	computer	computer	NOUN
fcis-1629	120	45	vision	vision	NOUN
fcis-1629	120	46	and	and	CCONJ
fcis-1629	120	47	pattern	pattern	NOUN
fcis-1629	120	48	recognition	recognition	NOUN
fcis-1629	120	49	,	,	PUNCT
fcis-1629	120	50	2020	2020	NUM
fcis-1629	120	51	,	,	PUNCT
fcis-1629	120	52	pp	pp	ADJ
fcis-1629	120	53	.	.	PUNCT
fcis-1629	120	54	11873–11882	11873–11882	NUM
fcis-1629	120	55	.	.	PUNCT
fcis-1629	121	1	[	[	X
fcis-1629	121	2	7	7	X
fcis-1629	121	3	]	]	PUNCT
fcis-1629	121	4	z.	z.	PROPN
fcis-1629	121	5	yang	yang	PROPN
fcis-1629	121	6	,	,	PUNCT
fcis-1629	121	7	y.	y.	PROPN
fcis-1629	121	8	sun	sun	PROPN
fcis-1629	121	9	,	,	PUNCT
fcis-1629	121	10	s.	s.	PROPN
fcis-1629	121	11	liu	liu	PROPN
fcis-1629	121	12	,	,	PUNCT
fcis-1629	121	13	and	and	CCONJ
fcis-1629	121	14	j.	j.	PROPN
fcis-1629	121	15	jia	jia	PROPN
fcis-1629	121	16	,	,	PUNCT
fcis-1629	121	17	‘	'	PUNCT
fcis-1629	121	18	3dssd	3dssd	NUM
fcis-1629	121	19	:	:	PUNCT
fcis-1629	121	20	point	point	NOUN
fcis-1629	121	21	-	-	PUNCT
fcis-1629	121	22	based	base	VERB
fcis-1629	121	23	3d	3d	PROPN
fcis-1629	121	24	single	single	ADJ
fcis-1629	121	25	stage	stage	NOUN
fcis-1629	121	26	object	object	NOUN
fcis-1629	121	27	detector	detector	NOUN
fcis-1629	121	28	’	'	PUNCT
fcis-1629	121	29	,	,	PUNCT
fcis-1629	121	30	in	in	ADP
fcis-1629	121	31	proceedings	proceeding	NOUN
fcis-1629	121	32	of	of	ADP
fcis-1629	121	33	the	the	DET
fcis-1629	121	34	ieee	ieee	NOUN
fcis-1629	121	35	/	/	SYM
fcis-1629	121	36	cvf	cvf	NOUN
fcis-1629	121	37	conference	conference	NOUN
fcis-1629	121	38	on	on	ADP
fcis-1629	121	39	computer	computer	NOUN
fcis-1629	121	40	vision	vision	NOUN
fcis-1629	121	41	and	and	CCONJ
fcis-1629	121	42	pattern	pattern	NOUN
fcis-1629	121	43	recognition	recognition	NOUN
fcis-1629	121	44	,	,	PUNCT
fcis-1629	121	45	2020	2020	NUM
fcis-1629	121	46	,	,	PUNCT
fcis-1629	121	47	pp	pp	ADV
fcis-1629	121	48	.	.	PUNCT
fcis-1629	122	1	11040–11048	11040–11048	NUM
fcis-1629	122	2	.	.	PUNCT
fcis-1629	123	1	[	[	X
fcis-1629	123	2	8	8	NUM
fcis-1629	123	3	]	]	PUNCT
fcis-1629	123	4	r.	r.	PROPN
fcis-1629	123	5	zhang	zhang	PROPN
fcis-1629	123	6	,	,	PUNCT
fcis-1629	123	7	s.	s.	PROPN
fcis-1629	123	8	tang	tang	PROPN
fcis-1629	123	9	,	,	PUNCT
fcis-1629	123	10	l.	l.	PROPN
fcis-1629	123	11	liu	liu	PROPN
fcis-1629	123	12	,	,	PUNCT
fcis-1629	123	13	y.	y.	PROPN
fcis-1629	123	14	zhang	zhang	PROPN
fcis-1629	123	15	,	,	PUNCT
fcis-1629	123	16	j.	j.	PROPN
fcis-1629	123	17	li	li	PROPN
fcis-1629	123	18	,	,	PUNCT
fcis-1629	123	19	and	and	CCONJ
fcis-1629	123	20	s.	s.	PROPN
fcis-1629	123	21	yan	yan	PROPN
fcis-1629	123	22	,	,	PUNCT
fcis-1629	123	23	‘	'	PUNCT
fcis-1629	123	24	high	high	ADJ
fcis-1629	123	25	resolution	resolution	NOUN
fcis-1629	123	26	feature	feature	NOUN
fcis-1629	123	27	recovering	recover	VERB
fcis-1629	123	28	for	for	ADP
fcis-1629	123	29	accelerating	accelerate	VERB
fcis-1629	123	30	urban	urban	ADJ
fcis-1629	123	31	scene	scene	NOUN
fcis-1629	123	32	parsing	parse	VERB
fcis-1629	123	33	.	.	PUNCT
fcis-1629	123	34	’	'	PUNCT
fcis-1629	123	35	,	,	PUNCT
fcis-1629	123	36	in	in	ADP
fcis-1629	123	37	ijcai	ijcai	NOUN
fcis-1629	123	38	,	,	PUNCT
fcis-1629	123	39	2018	2018	NUM
fcis-1629	123	40	,	,	PUNCT
fcis-1629	123	41	pp	pp	ADJ
fcis-1629	123	42	.	.	PUNCT
fcis-1629	124	1	1156–1162	1156–1162	NUM
fcis-1629	124	2	.	.	PUNCT
fcis-1629	125	1	[	[	X
fcis-1629	125	2	9	9	NUM
fcis-1629	125	3	]	]	PUNCT
fcis-1629	125	4	t.	t.	PROPN
fcis-1629	125	5	yin	yin	PROPN
fcis-1629	125	6	,	,	PUNCT
fcis-1629	125	7	x.	x.	NOUN
fcis-1629	125	8	zhou	zhou	PROPN
fcis-1629	125	9	,	,	PUNCT
fcis-1629	125	10	and	and	CCONJ
fcis-1629	125	11	p.	p.	PROPN
fcis-1629	125	12	krahenbuhl	krahenbuhl	PROPN
fcis-1629	125	13	,	,	PUNCT
fcis-1629	125	14	‘	'	PUNCT
fcis-1629	125	15	center	center	NOUN
fcis-1629	125	16	-	-	PUNCT
fcis-1629	125	17	based	base	VERB
fcis-1629	125	18	3d	3d	NUM
fcis-1629	125	19	object	object	NOUN
fcis-1629	125	20	detection	detection	NOUN
fcis-1629	125	21	and	and	CCONJ
fcis-1629	125	22	tracking	tracking	NOUN
fcis-1629	125	23	’	'	PUNCT
fcis-1629	125	24	,	,	PUNCT
fcis-1629	125	25	in	in	ADP
fcis-1629	125	26	proceedings	proceeding	NOUN
fcis-1629	125	27	of	of	ADP
fcis-1629	125	28	the	the	DET
fcis-1629	125	29	ieee	ieee	NOUN
fcis-1629	125	30	/	/	SYM
fcis-1629	125	31	cvf	cvf	NOUN
fcis-1629	125	32	conference	conference	NOUN
fcis-1629	125	33	on	on	ADP
fcis-1629	125	34	computer	computer	NOUN
fcis-1629	125	35	vision	vision	NOUN
fcis-1629	125	36	and	and	CCONJ
fcis-1629	125	37	pattern	pattern	NOUN
fcis-1629	125	38	recognition	recognition	NOUN
fcis-1629	125	39	,	,	PUNCT
fcis-1629	125	40	2021	2021	NUM
fcis-1629	125	41	,	,	PUNCT
fcis-1629	125	42	pp	pp	ADJ
fcis-1629	125	43	.	.	PUNCT
fcis-1629	125	44	11784–11793	11784–11793	NUM
fcis-1629	125	45	.	.	PUNCT
fcis-1629	126	1	[	[	X
fcis-1629	126	2	10	10	NUM
fcis-1629	126	3	]	]	X
fcis-1629	126	4	s.	s.	PROPN
fcis-1629	126	5	shi	shi	PROPN
fcis-1629	126	6	,	,	PUNCT
fcis-1629	126	7	x.	x.	PROPN
fcis-1629	126	8	wang	wang	PROPN
fcis-1629	126	9	,	,	PUNCT
fcis-1629	126	10	and	and	CCONJ
fcis-1629	126	11	h.	h.	PROPN
fcis-1629	126	12	li	li	PROPN
fcis-1629	126	13	,	,	PUNCT
fcis-1629	126	14	‘	'	PUNCT
fcis-1629	126	15	pointrcnn	pointrcnn	PRON
fcis-1629	126	16	:	:	PUNCT
fcis-1629	126	17	3d	3d	NUM
fcis-1629	126	18	object	object	NOUN
fcis-1629	126	19	proposal	proposal	NOUN
fcis-1629	126	20	generation	generation	NOUN
fcis-1629	126	21	and	and	CCONJ
fcis-1629	126	22	detection	detection	NOUN
fcis-1629	126	23	from	from	ADP
fcis-1629	126	24	point	point	NOUN
fcis-1629	126	25	cloud	cloud	NOUN
fcis-1629	126	26	’	'	PUNCT
fcis-1629	126	27	,	,	PUNCT
fcis-1629	126	28	in	in	ADP
fcis-1629	126	29	proceedings	proceeding	NOUN
fcis-1629	126	30	of	of	ADP
fcis-1629	126	31	the	the	DET
fcis-1629	126	32	ieee	ieee	NOUN
fcis-1629	126	33	/	/	SYM
fcis-1629	126	34	cvf	cvf	NOUN
fcis-1629	126	35	conference	conference	NOUN
fcis-1629	126	36	on	on	ADP
fcis-1629	126	37	computer	computer	NOUN
fcis-1629	126	38	vision	vision	NOUN
fcis-1629	126	39	and	and	CCONJ
fcis-1629	126	40	pattern	pattern	NOUN
fcis-1629	126	41	recognition	recognition	NOUN
fcis-1629	126	42	,	,	PUNCT
fcis-1629	126	43	2019	2019	NUM
fcis-1629	126	44	,	,	PUNCT
fcis-1629	126	45	pp	pp	ADJ
fcis-1629	126	46	.	.	PUNCT
fcis-1629	127	1	770–779	770–779	NUM
fcis-1629	127	2	.	.	PUNCT
fcis-1629	128	1	[	[	X
fcis-1629	128	2	11	11	NUM
fcis-1629	128	3	]	]	PUNCT
fcis-1629	128	4	s.	s.	PROPN
fcis-1629	128	5	shi	shi	PROPN
fcis-1629	128	6	,	,	PUNCT
fcis-1629	128	7	z.	z.	PROPN
fcis-1629	128	8	wang	wang	PROPN
fcis-1629	128	9	,	,	PUNCT
fcis-1629	128	10	x.	x.	PROPN
fcis-1629	128	11	wang	wang	PROPN
fcis-1629	128	12	,	,	PUNCT
fcis-1629	128	13	and	and	CCONJ
fcis-1629	128	14	h.	h.	PROPN
fcis-1629	128	15	li	li	PROPN
fcis-1629	128	16	,	,	PUNCT
fcis-1629	128	17	‘	'	PUNCT
fcis-1629	128	18	part	part	NOUN
fcis-1629	128	19	-	-	PUNCT
fcis-1629	128	20	aˆ	aˆ	ADJ
fcis-1629	128	21	2	2	NUM
fcis-1629	128	22	net	net	NOUN
fcis-1629	128	23	:	:	PUNCT
fcis-1629	128	24	3d	3d	NUM
fcis-1629	128	25	partaware	partaware	NOUN
fcis-1629	128	26	and	and	CCONJ
fcis-1629	128	27	aggregation	aggregation	NOUN
fcis-1629	128	28	neural	neural	ADJ
fcis-1629	128	29	network	network	NOUN
fcis-1629	128	30	for	for	ADP
fcis-1629	128	31	object	object	NOUN
fcis-1629	128	32	detection	detection	NOUN
fcis-1629	128	33	from	from	ADP
fcis-1629	128	34	point	point	NOUN
fcis-1629	128	35	cloud	cloud	PROPN
fcis-1629	128	36	’	'	PUNCT
fcis-1629	128	37	,	,	PUNCT
fcis-1629	128	38	arxiv	arxiv	PROPN
fcis-1629	128	39	prepr	prepr	NOUN
fcis-1629	128	40	.	.	PUNCT
fcis-1629	129	1	arxiv190703670	arxiv190703670	PROPN
fcis-1629	129	2	,	,	PUNCT
fcis-1629	129	3	vol	vol	NOUN
fcis-1629	129	4	.	.	PROPN
fcis-1629	129	5	2	2	NUM
fcis-1629	129	6	,	,	PUNCT
fcis-1629	129	7	no	no	INTJ
fcis-1629	129	8	.	.	NOUN
fcis-1629	129	9	3	3	NUM
fcis-1629	129	10	,	,	PUNCT
fcis-1629	129	11	2019	2019	NUM
fcis-1629	129	12	.	.	PUNCT
fcis-1629	130	1	[	[	X
fcis-1629	130	2	12	12	NUM
fcis-1629	130	3	]	]	X
fcis-1629	130	4	s.	s.	PROPN
fcis-1629	130	5	shi	shi	PROPN
fcis-1629	130	6	et	et	PROPN
fcis-1629	130	7	al	al	PROPN
fcis-1629	130	8	.	.	PROPN
fcis-1629	130	9	,	,	PUNCT
fcis-1629	130	10	‘	'	PUNCT
fcis-1629	130	11	pv	pv	NOUN
fcis-1629	130	12	-	-	PUNCT
fcis-1629	130	13	rcnn	rcnn	NOUN
fcis-1629	130	14	:	:	PUNCT
fcis-1629	130	15	point	point	NOUN
fcis-1629	130	16	-	-	PUNCT
fcis-1629	130	17	voxel	voxel	NOUN
fcis-1629	130	18	feature	feature	NOUN
fcis-1629	130	19	set	set	VERB
fcis-1629	130	20	abstraction	abstraction	NOUN
fcis-1629	130	21	for	for	ADP
fcis-1629	130	22	3d	3d	NUM
fcis-1629	130	23	object	object	NOUN
fcis-1629	130	24	detection	detection	NOUN
fcis-1629	130	25	’	'	PUNCT
fcis-1629	130	26	,	,	PUNCT
fcis-1629	130	27	in	in	ADP
fcis-1629	130	28	proceedings	proceeding	NOUN
fcis-1629	130	29	of	of	ADP
fcis-1629	130	30	the	the	DET
fcis-1629	130	31	ieee	ieee	NOUN
fcis-1629	130	32	/	/	SYM
fcis-1629	130	33	cvf	cvf	NOUN
fcis-1629	130	34	conference	conference	NOUN
fcis-1629	130	35	on	on	ADP
fcis-1629	130	36	computer	computer	NOUN
fcis-1629	130	37	vision	vision	NOUN
fcis-1629	130	38	and	and	CCONJ
fcis-1629	130	39	pattern	pattern	NOUN
fcis-1629	130	40	recognition	recognition	NOUN
fcis-1629	130	41	,	,	PUNCT
fcis-1629	130	42	2020	2020	NUM
fcis-1629	130	43	,	,	PUNCT
fcis-1629	130	44	pp	pp	ADV
fcis-1629	130	45	.	.	PUNCT
fcis-1629	131	1	10529–10538	10529–10538	NUM
fcis-1629	131	2	.	.	PUNCT
fcis-1629	132	1	[	[	X
fcis-1629	132	2	13	13	NUM
fcis-1629	132	3	]	]	PUNCT
fcis-1629	132	4	s.	s.	PROPN
fcis-1629	132	5	shi	shi	PROPN
fcis-1629	132	6	et	et	PROPN
fcis-1629	132	7	al	al	PROPN
fcis-1629	132	8	.	.	PROPN
fcis-1629	132	9	,	,	PUNCT
fcis-1629	132	10	‘	'	PUNCT
fcis-1629	132	11	pv	pv	NOUN
fcis-1629	132	12	-	-	PUNCT
fcis-1629	132	13	rcnn++	rcnn++	NOUN
fcis-1629	132	14	:	:	PUNCT
fcis-1629	132	15	point	point	NOUN
fcis-1629	132	16	-	-	PUNCT
fcis-1629	132	17	voxel	voxel	NOUN
fcis-1629	132	18	feature	feature	NOUN
fcis-1629	132	19	set	set	VERB
fcis-1629	132	20	abstraction	abstraction	NOUN
fcis-1629	132	21	with	with	ADP
fcis-1629	132	22	local	local	ADJ
fcis-1629	132	23	vector	vector	NOUN
fcis-1629	132	24	representation	representation	NOUN
fcis-1629	132	25	for	for	ADP
fcis-1629	132	26	3d	3d	NUM
fcis-1629	132	27	object	object	NOUN
fcis-1629	132	28	detection	detection	NOUN
fcis-1629	132	29	’	'	PUNCT
fcis-1629	132	30	,	,	PUNCT
fcis-1629	132	31	arxiv	arxiv	PROPN
fcis-1629	132	32	prepr	prepr	NOUN
fcis-1629	132	33	.	.	PUNCT
fcis-1629	133	1	arxiv210200463	arxiv210200463	ADJ
fcis-1629	133	2	,	,	PUNCT
fcis-1629	133	3	2021	2021	NUM
fcis-1629	133	4	.	.	PUNCT
fcis-1629	134	1	[	[	X
fcis-1629	134	2	14	14	NUM
fcis-1629	134	3	]	]	X
fcis-1629	134	4	p.	p.	NOUN
fcis-1629	134	5	bhattacharyya	bhattacharyya	PROPN
fcis-1629	134	6	and	and	CCONJ
fcis-1629	134	7	k.	k.	PROPN
fcis-1629	134	8	czarnecki	czarnecki	PROPN
fcis-1629	134	9	,	,	PUNCT
fcis-1629	134	10	‘	'	PUNCT
fcis-1629	134	11	deformable	deformable	ADJ
fcis-1629	134	12	pv	pv	NOUN
fcis-1629	134	13	-	-	PUNCT
fcis-1629	134	14	rcnn	rcnn	NOUN
fcis-1629	134	15	:	:	PUNCT
fcis-1629	134	16	improving	improve	VERB
fcis-1629	134	17	3d	3d	NUM
fcis-1629	134	18	object	object	NOUN
fcis-1629	134	19	detection	detection	NOUN
fcis-1629	134	20	with	with	ADP
fcis-1629	134	21	learned	learn	VERB
fcis-1629	134	22	deformations	deformation	NOUN
fcis-1629	134	23	’	'	PUNCT
fcis-1629	134	24	,	,	PUNCT
fcis-1629	134	25	arxiv	arxiv	PROPN
fcis-1629	134	26	prepr	prepr	NOUN
fcis-1629	134	27	.	.	PUNCT
fcis-1629	135	1	arxiv200808766	arxiv200808766	PROPN
fcis-1629	135	2	,	,	PUNCT
fcis-1629	135	3	2020	2020	NUM
fcis-1629	135	4	.	.	PUNCT
fcis-1629	136	1	[	[	X
fcis-1629	136	2	15	15	NUM
fcis-1629	136	3	]	]	X
fcis-1629	136	4	z.	z.	PROPN
fcis-1629	136	5	li	li	PROPN
fcis-1629	136	6	,	,	PUNCT
fcis-1629	136	7	y.	y.	PROPN
fcis-1629	136	8	yao	yao	PROPN
fcis-1629	136	9	,	,	PUNCT
fcis-1629	136	10	z.	z.	PROPN
fcis-1629	136	11	quan	quan	PROPN
fcis-1629	136	12	,	,	PUNCT
fcis-1629	136	13	w.	w.	PROPN
fcis-1629	136	14	yang	yang	PROPN
fcis-1629	136	15	,	,	PUNCT
fcis-1629	136	16	and	and	CCONJ
fcis-1629	136	17	j.	j.	PROPN
fcis-1629	136	18	xie	xie	PROPN
fcis-1629	136	19	,	,	PUNCT
fcis-1629	136	20	‘	'	PUNCT
fcis-1629	136	21	sienet	sienet	NOUN
fcis-1629	136	22	:	:	PUNCT
fcis-1629	136	23	spatial	spatial	ADJ
fcis-1629	136	24	information	information	NOUN
fcis-1629	136	25	enhancement	enhancement	NOUN
fcis-1629	136	26	network	network	NOUN
fcis-1629	136	27	for	for	ADP
fcis-1629	136	28	3d	3d	NUM
fcis-1629	136	29	object	object	NOUN
fcis-1629	136	30	detection	detection	NOUN
fcis-1629	136	31	from	from	ADP
fcis-1629	136	32	point	point	NOUN
fcis-1629	136	33	cloud	cloud	PROPN
fcis-1629	136	34	’	'	PUNCT
fcis-1629	136	35	,	,	PUNCT
fcis-1629	136	36	arxiv	arxiv	PROPN
fcis-1629	136	37	prepr	prepr	NOUN
fcis-1629	136	38	.	.	PUNCT
fcis-1629	136	39	arxiv210315396	arxiv210315396	PROPN
fcis-1629	136	40	,	,	PUNCT
fcis-1629	136	41	2021	2021	NUM
fcis-1629	136	42	.	.	PUNCT
fcis-1629	137	1	[	[	X
fcis-1629	137	2	16	16	NUM
fcis-1629	137	3	]	]	X
fcis-1629	137	4	s.	s.	PROPN
fcis-1629	137	5	pang	pang	PROPN
fcis-1629	137	6	,	,	PUNCT
fcis-1629	137	7	d.	d.	PROPN
fcis-1629	137	8	morris	morris	PROPN
fcis-1629	137	9	,	,	PUNCT
fcis-1629	137	10	and	and	CCONJ
fcis-1629	137	11	h.	h.	PROPN
fcis-1629	137	12	radha	radha	PROPN
fcis-1629	137	13	,	,	PUNCT
fcis-1629	137	14	‘	'	PUNCT
fcis-1629	137	15	clocs	cloc	NOUN
fcis-1629	137	16	:	:	PUNCT
fcis-1629	137	17	camera	camera	NOUN
fcis-1629	137	18	-	-	PUNCT
fcis-1629	137	19	lidar	lidar	NOUN
fcis-1629	137	20	object	object	NOUN
fcis-1629	137	21	candidates	candidate	NOUN
fcis-1629	137	22	fusion	fusion	VERB
fcis-1629	137	23	for	for	ADP
fcis-1629	137	24	3d	3d	NUM
fcis-1629	137	25	object	object	NOUN
fcis-1629	137	26	detection	detection	NOUN
fcis-1629	137	27	’	'	PUNCT
fcis-1629	137	28	,	,	PUNCT
fcis-1629	137	29	in	in	ADP
fcis-1629	137	30	2020	2020	NUM
fcis-1629	137	31	ieee	ieee	NOUN
fcis-1629	137	32	/	/	SYM
fcis-1629	137	33	rsj	rsj	NOUN
fcis-1629	137	34	international	international	ADJ
fcis-1629	137	35	conference	conference	NOUN
fcis-1629	137	36	on	on	ADP
fcis-1629	137	37	intelligent	intelligent	ADJ
fcis-1629	137	38	robots	robot	NOUN
fcis-1629	137	39	and	and	CCONJ
fcis-1629	137	40	systems	system	NOUN
fcis-1629	137	41	(	(	PUNCT
fcis-1629	137	42	iros	iro	NOUN
fcis-1629	137	43	)	)	PUNCT
fcis-1629	137	44	,	,	PUNCT
fcis-1629	137	45	2020	2020	NUM
fcis-1629	137	46	,	,	PUNCT
fcis-1629	137	47	pp	pp	ADJ
fcis-1629	137	48	.	.	PUNCT
fcis-1629	137	49	10386–10393	10386–10393	NUM
fcis-1629	137	50	.	.	PUNCT
fcis-1629	138	1	[	[	X
fcis-1629	138	2	17	17	NUM
fcis-1629	138	3	]	]	PUNCT
fcis-1629	138	4	a.	a.	NOUN
fcis-1629	138	5	mahmoud	mahmoud	PROPN
fcis-1629	138	6	,	,	PUNCT
fcis-1629	138	7	j.	j.	PROPN
fcis-1629	138	8	s.	s.	PROPN
fcis-1629	138	9	hu	hu	PROPN
fcis-1629	138	10	,	,	PUNCT
fcis-1629	138	11	and	and	CCONJ
fcis-1629	138	12	s.	s.	PROPN
fcis-1629	138	13	l.	l.	PROPN
fcis-1629	138	14	waslander	waslander	PROPN
fcis-1629	138	15	,	,	PUNCT
fcis-1629	138	16	‘	'	PUNCT
fcis-1629	138	17	dense	dense	ADJ
fcis-1629	138	18	voxel	voxel	NOUN
fcis-1629	138	19	fusion	fusion	NOUN
fcis-1629	138	20	for	for	ADP
fcis-1629	138	21	3d	3d	NUM
fcis-1629	138	22	object	object	NOUN
fcis-1629	138	23	detection	detection	NOUN
fcis-1629	138	24	’	'	PUNCT
fcis-1629	138	25	,	,	PUNCT
fcis-1629	138	26	arxiv	arxiv	PROPN
fcis-1629	138	27	prepr	prepr	NOUN
fcis-1629	138	28	.	.	PUNCT
fcis-1629	139	1	arxiv220300871	arxiv220300871	PROPN
fcis-1629	139	2	,	,	PUNCT
fcis-1629	139	3	2022	2022	NUM
fcis-1629	139	4	.	.	PUNCT
fcis-1629	140	1	[	[	X
fcis-1629	140	2	18	18	NUM
fcis-1629	140	3	]	]	PUNCT
fcis-1629	140	4	x.	x.	NOUN
fcis-1629	140	5	wu	wu	PROPN
fcis-1629	140	6	et	et	PROPN
fcis-1629	140	7	al	al	PROPN
fcis-1629	140	8	.	.	PROPN
fcis-1629	140	9	,	,	PUNCT
fcis-1629	140	10	‘	'	PUNCT
fcis-1629	140	11	sparse	sparse	ADJ
fcis-1629	140	12	fuse	fuse	NOUN
fcis-1629	140	13	dense	dense	ADJ
fcis-1629	140	14	:	:	PUNCT
fcis-1629	140	15	towards	towards	ADP
fcis-1629	140	16	high	high	ADJ
fcis-1629	140	17	quality	quality	NOUN
fcis-1629	140	18	3d	3d	NUM
fcis-1629	140	19	detection	detection	NOUN
fcis-1629	140	20	with	with	ADP
fcis-1629	140	21	depth	depth	NOUN
fcis-1629	140	22	completion	completion	NOUN
fcis-1629	140	23	’	'	PUNCT
fcis-1629	140	24	,	,	PUNCT
fcis-1629	140	25	arxiv	arxiv	PROPN
fcis-1629	140	26	prepr	prepr	NOUN
fcis-1629	140	27	.	.	PUNCT
fcis-1629	141	1	arxiv220309780	arxiv220309780	PROPN
fcis-1629	141	2	,	,	PUNCT
fcis-1629	141	3	2022	2022	NUM
fcis-1629	141	4	.	.	PUNCT
fcis-1629	142	1	[	[	X
fcis-1629	142	2	19	19	NUM
fcis-1629	142	3	]	]	PUNCT
fcis-1629	142	4	j.	j.	PROPN
fcis-1629	142	5	deng	deng	PROPN
fcis-1629	142	6	,	,	PUNCT
fcis-1629	142	7	s.	s.	PROPN
fcis-1629	142	8	shi	shi	PROPN
fcis-1629	142	9	,	,	PUNCT
fcis-1629	142	10	p.	p.	PROPN
fcis-1629	142	11	li	li	PROPN
fcis-1629	142	12	,	,	PUNCT
fcis-1629	142	13	w.	w.	PROPN
fcis-1629	142	14	zhou	zhou	PROPN
fcis-1629	142	15	,	,	PUNCT
fcis-1629	142	16	y.	y.	PROPN
fcis-1629	142	17	zhang	zhang	PROPN
fcis-1629	142	18	,	,	PUNCT
fcis-1629	142	19	and	and	CCONJ
fcis-1629	142	20	h.	h.	PROPN
fcis-1629	142	21	li	li	PROPN
fcis-1629	142	22	,	,	PUNCT
fcis-1629	142	23	‘	'	PUNCT
fcis-1629	142	24	voxel	voxel	PROPN
fcis-1629	142	25	r	r	PROPN
fcis-1629	142	26	-	-	PUNCT
fcis-1629	142	27	cnn	cnn	PROPN
fcis-1629	142	28	:	:	PUNCT
fcis-1629	142	29	towards	towards	ADP
fcis-1629	142	30	high	high	ADJ
fcis-1629	142	31	performance	performance	NOUN
fcis-1629	142	32	voxel	voxel	PROPN
fcis-1629	142	33	-	-	PUNCT
fcis-1629	142	34	based	base	VERB
fcis-1629	142	35	3d	3d	PROPN
fcis-1629	142	36	object	object	NOUN
fcis-1629	142	37	detection	detection	NOUN
fcis-1629	142	38	’	'	PUNCT
fcis-1629	142	39	,	,	PUNCT
fcis-1629	142	40	arxiv	arxiv	PROPN
fcis-1629	142	41	prepr	prepr	NOUN
fcis-1629	142	42	.	.	PUNCT
fcis-1629	143	1	arxiv201215712	arxiv201215712	NOUN
fcis-1629	143	2	,	,	PUNCT
fcis-1629	143	3	2020	2020	NUM
fcis-1629	143	4	.	.	PUNCT
fcis-1629	144	1	[	[	X
fcis-1629	144	2	20	20	NUM
fcis-1629	144	3	]	]	PUNCT
fcis-1629	144	4	h.	h.	PROPN
fcis-1629	144	5	sheng	sheng	PROPN
fcis-1629	144	6	et	et	PROPN
fcis-1629	144	7	al	al	PROPN
fcis-1629	144	8	.	.	PROPN
fcis-1629	144	9	,	,	PUNCT
fcis-1629	144	10	‘	'	PUNCT
fcis-1629	144	11	improving	improve	VERB
fcis-1629	144	12	3d	3d	NUM
fcis-1629	144	13	object	object	NOUN
fcis-1629	144	14	detection	detection	NOUN
fcis-1629	144	15	with	with	ADP
fcis-1629	144	16	channelwise	channelwise	NOUN
fcis-1629	144	17	transformer	transformer	NOUN
fcis-1629	144	18	’	'	PUNCT
fcis-1629	144	19	,	,	PUNCT
fcis-1629	144	20	in	in	ADP
fcis-1629	144	21	proceedings	proceeding	NOUN
fcis-1629	144	22	of	of	ADP
fcis-1629	144	23	the	the	DET
fcis-1629	144	24	ieee	ieee	NOUN
fcis-1629	144	25	/	/	SYM
fcis-1629	144	26	cvf	cvf	NOUN
fcis-1629	144	27	international	international	ADJ
fcis-1629	144	28	conference	conference	NOUN
fcis-1629	144	29	on	on	ADP
fcis-1629	144	30	computer	computer	NOUN
fcis-1629	144	31	vision	vision	NOUN
fcis-1629	144	32	,	,	PUNCT
fcis-1629	144	33	2021	2021	NUM
fcis-1629	144	34	,	,	PUNCT
fcis-1629	144	35	pp	pp	ADJ
fcis-1629	144	36	.	.	PUNCT
fcis-1629	144	37	2743	2743	NUM
fcis-1629	144	38	–	–	PUNCT
fcis-1629	144	39	2752	2752	NUM
fcis-1629	144	40	.	.	PUNCT
fcis-1629	145	1	[	[	X
fcis-1629	145	2	21	21	NUM
fcis-1629	145	3	]	]	PUNCT
fcis-1629	145	4	j.	j.	PROPN
fcis-1629	145	5	s.	s.	PROPN
fcis-1629	145	6	hu	hu	PROPN
fcis-1629	145	7	,	,	PUNCT
fcis-1629	145	8	t.	t.	PROPN
fcis-1629	145	9	kuai	kuai	PROPN
fcis-1629	145	10	,	,	PUNCT
fcis-1629	145	11	and	and	CCONJ
fcis-1629	145	12	s.	s.	PROPN
fcis-1629	145	13	l.	l.	PROPN
fcis-1629	145	14	waslander	waslander	PROPN
fcis-1629	145	15	,	,	PUNCT
fcis-1629	145	16	‘	'	PUNCT
fcis-1629	145	17	point	point	VERB
fcis-1629	145	18	density	density	NOUN
fcis-1629	145	19	-	-	PUNCT
fcis-1629	145	20	aware	aware	ADJ
fcis-1629	145	21	voxels	voxel	NOUN
fcis-1629	145	22	for	for	ADP
fcis-1629	145	23	lidar	lidar	NOUN
fcis-1629	145	24	3d	3d	PROPN
fcis-1629	145	25	object	object	NOUN
fcis-1629	145	26	detection	detection	NOUN
fcis-1629	145	27	’	'	PUNCT
fcis-1629	145	28	,	,	PUNCT
fcis-1629	145	29	in	in	ADP
fcis-1629	145	30	proceedings	proceeding	NOUN
fcis-1629	145	31	of	of	ADP
fcis-1629	145	32	the	the	DET
fcis-1629	145	33	ieee	ieee	NOUN
fcis-1629	145	34	/	/	SYM
fcis-1629	145	35	cvf	cvf	NOUN
fcis-1629	145	36	conference	conference	NOUN
fcis-1629	145	37	on	on	ADP
fcis-1629	145	38	computer	computer	NOUN
fcis-1629	145	39	vision	vision	NOUN
fcis-1629	145	40	and	and	CCONJ
fcis-1629	145	41	pattern	pattern	NOUN
fcis-1629	145	42	recognition	recognition	NOUN
fcis-1629	145	43	,	,	PUNCT
fcis-1629	145	44	2022	2022	NUM
fcis-1629	145	45	,	,	PUNCT
fcis-1629	145	46	pp	pp	NUM
fcis-1629	145	47	.	.	PUNCT
fcis-1629	145	48	8469–8478	8469–8478	NUM
fcis-1629	145	49	.	.	PUNCT
fcis-1629	146	1	[	[	X
fcis-1629	146	2	22	22	NUM
fcis-1629	146	3	]	]	PUNCT
fcis-1629	146	4	z.	z.	PROPN
fcis-1629	146	5	li	li	PROPN
fcis-1629	146	6	,	,	PUNCT
fcis-1629	146	7	f.	f.	PROPN
fcis-1629	146	8	wang	wang	PROPN
fcis-1629	146	9	,	,	PUNCT
fcis-1629	146	10	and	and	CCONJ
fcis-1629	146	11	n.	n.	PROPN
fcis-1629	146	12	wang	wang	PROPN
fcis-1629	146	13	,	,	PUNCT
fcis-1629	146	14	‘	'	PUNCT
fcis-1629	146	15	lidar	lidar	NOUN
fcis-1629	146	16	r	r	NOUN
fcis-1629	146	17	-	-	PUNCT
fcis-1629	146	18	cnn	cnn	NOUN
fcis-1629	146	19	:	:	PUNCT
fcis-1629	146	20	an	an	DET
fcis-1629	146	21	efficient	efficient	ADJ
fcis-1629	146	22	and	and	CCONJ
fcis-1629	146	23	universal	universal	ADJ
fcis-1629	146	24	3d	3d	NUM
fcis-1629	146	25	object	object	NOUN
fcis-1629	146	26	detector	detector	NOUN
fcis-1629	146	27	’	'	PUNCT
fcis-1629	146	28	,	,	PUNCT
fcis-1629	146	29	in	in	ADP
fcis-1629	146	30	proceedings	proceeding	NOUN
fcis-1629	146	31	of	of	ADP
fcis-1629	146	32	the	the	DET
fcis-1629	146	33	ieee	ieee	NOUN
fcis-1629	146	34	/	/	SYM
fcis-1629	146	35	cvf	cvf	NOUN
fcis-1629	146	36	conference	conference	NOUN
fcis-1629	146	37	on	on	ADP
fcis-1629	146	38	computer	computer	NOUN
fcis-1629	146	39	vision	vision	NOUN
fcis-1629	146	40	and	and	CCONJ
fcis-1629	146	41	pattern	pattern	NOUN
fcis-1629	146	42	recognition	recognition	NOUN
fcis-1629	146	43	,	,	PUNCT
fcis-1629	146	44	2021	2021	NUM
fcis-1629	146	45	,	,	PUNCT
fcis-1629	146	46	pp	pp	ADJ
fcis-1629	146	47	.	.	PUNCT
fcis-1629	147	1	7546–7555	7546–7555	NUM
fcis-1629	147	2	.	.	PUNCT
fcis-1629	148	1	[	[	X
fcis-1629	148	2	23	23	NUM
fcis-1629	148	3	]	]	X
fcis-1629	148	4	c.	c.	PROPN
fcis-1629	148	5	lee	lee	PROPN
fcis-1629	148	6	et	et	PROPN
fcis-1629	148	7	al	al	PROPN
fcis-1629	148	8	.	.	PROPN
fcis-1629	148	9	,	,	PUNCT
fcis-1629	148	10	‘	'	PUNCT
fcis-1629	148	11	interactive	interactive	ADJ
fcis-1629	148	12	multi	multi	ADJ
fcis-1629	148	13	-	-	ADJ
fcis-1629	148	14	class	class	ADJ
fcis-1629	148	15	tiny	tiny	ADJ
fcis-1629	148	16	-	-	PUNCT
fcis-1629	148	17	object	object	NOUN
fcis-1629	148	18	detection	detection	NOUN
fcis-1629	148	19	’	'	PUNCT
fcis-1629	148	20	,	,	PUNCT
fcis-1629	148	21	in	in	ADP
fcis-1629	148	22	proceedings	proceeding	NOUN
fcis-1629	148	23	of	of	ADP
fcis-1629	148	24	the	the	DET
fcis-1629	148	25	ieee	ieee	NOUN
fcis-1629	148	26	/	/	SYM
fcis-1629	148	27	cvf	cvf	NOUN
fcis-1629	148	28	conference	conference	NOUN
fcis-1629	148	29	on	on	ADP
fcis-1629	148	30	computer	computer	NOUN
fcis-1629	148	31	vision	vision	NOUN
fcis-1629	148	32	and	and	CCONJ
fcis-1629	148	33	pattern	pattern	NOUN
fcis-1629	148	34	recognition	recognition	NOUN
fcis-1629	148	35	,	,	PUNCT
fcis-1629	148	36	2022	2022	NUM
fcis-1629	148	37	,	,	PUNCT
fcis-1629	148	38	pp	pp	ADV
fcis-1629	148	39	.	.	PUNCT
fcis-1629	149	1	14136–14145	14136–14145	NUM
fcis-1629	149	2	.	.	PUNCT