flatformer
FlatFormer enhances 3D point cloud transformer efficiency with flattened window attention, solving latency challenges for applications like autonomous driving. It reduces processing overhead by grouping point clouds equally and applying self-attention, achieving significant speed improvements over SST and CenterPoint while ensuring high accuracy on the Waymo Dataset. It delivers real-time performance on edge GPUs, surpassing traditional sparse convolutional methods in speed and performance on large-scale benchmarks.
