c1aaf7c3f306fe94f77236dc0756d771-Paper-Conference.pdf

Then, to recover the features of missed voxels due to incorrect voxel-wise segmentation, we build afully sparse convolutional RoI pooling module todirectly aggregate fine-grained spatial information from backbone for further proposal refinement. It is memory-and-computation efficient and can better encode the geometry-specific featuresofeach3Dproposal.