  A novel, adaptive ground-aware, and cost-effective 3D Object Detection
pipeline is proposed. The ground surface representation introduced in this
paper, in comparison to its uni-planar counterparts (methods that model the
surface of a whole 3D scene using single plane), is far more accurate while
being ~10x faster. The novelty of the ground representation lies both in the
way in which the ground surface of the scene is represented in Lidar perception
problems, as well as in the (cost-efficient) way in which it is computed.
Furthermore, the proposed object detection pipeline builds on the traditional
two-stage object detection models by incorporating the ability to dynamically
reason the surface of the scene, ultimately achieving a new state-of-the-art 3D
object detection performance among the two-stage Lidar Object Detection
pipelines.
