Deng, J., Shi, S., Li, P., Zhou, W., Zhang, Y. and Li, H. 2021. Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence. 35, 2 (May 2021), 1201-1209. DOI:https://doi.org/10.1609/aaai.v35i2.16207.