ET-PointPillars: improved PointPillars for 3D object detection based on optimized voxel downsampling. - Yiyi Liu; Zhengyi Yang 003; JianLin Tong; Jiajia Yang; Jiongcheng Peng; Lihang Zhang; Wangxin Cheng (Mach. Vis. Appl., 2024)