# HFSA-Net: A 3D Object Detection Network with Structural Encoding and Attention Enhancement for LiDAR Point Clouds

## TL;DR

This paper introduces HFSA-Net, a new 3D object detection framework for LiDAR data that improves detection accuracy by preserving structural information and using attention mechanisms.

## Contribution

The novel Structured Voxel Feature Encoder and Hybrid-Domain Attention-Guided Backbone enhance feature encoding and focus on key geometric features.

## Key findings

- HFSA-Net increases mean Average Precision (mAP) by 3.34% on the KITTI dataset.
- The method improves detection accuracy and generalization with lower-resolution LiDAR data.

## Abstract

The inherent sparsity of LiDAR point cloud data presents a fundamental challenge for 3D object detection. During the feature encoding stage, especially in voxelization, existing methods find it difficult to effectively retain the critical geometric structural information contained in these sparse point clouds, resulting in decreased detection performance. To address this problem, this paper proposes an enhanced 3D object detection framework. It first designs a Structured Voxel Feature Encoder that significantly enhances the initial feature representation through intra-voxel feature refinement and multi-scale neighborhood context aggregation. Second, it constructs a Hybrid-Domain Attention-Guided Sparse Backbone, which introduces a decoupled hybrid attention mechanism and a hierarchical integration strategy to realize dynamic weighting and focusing on key semantic and geometric features. Finally, a Scale-Aggregation Head is proposed to improve the model’s perception and localization capabilities for different-sized objects via multi-level feature pyramid fusion and cross-layer information interaction. Experimental results on the KITTI dataset show that the proposed algorithm increases the mean Average Precision (mAP) by 3.34% compared to the baseline model. Moreover, experiments on a vehicle platform with a lower-resolution LiDAR verify the effectiveness of the proposed method in improving 3D detection accuracy and its generalization ability.