the performance and robustness of modern 3D object detectors. Towards this goal, we
design a single stage detector that extracts geometric and semantic features from the HD
maps. As maps might not be available everywhere, we also propose a map prediction
module that estimates the map on the fly from raw LiDAR data. We conduct extensive
experiments on KITTI [1] as well as a large-scale 3D detection benchmark containing 1 …