Chen C, Chen Z, Zhang J, Tao D. SASA: Semantics-Augmented Set Abstraction for Point-Based 3D Object Detection. AAAI [Internet]. 2022 Jun. 28 [cited 2026 May 31];36(1):221-9. Available from: https://ojs.aaai.org/index.php/AAAI/article/view/19897