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Group-Free 3D Object Detection via TransformersZe Liu Zheng Zhang Yue Cao Han Hu Xin TongIEEE International Conference on Computer Vision
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11.9563 TL
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11.9551 TL
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11.9563 TL
T*[(compute)-335.018(object)-336.008(features)-335.005(from)-336.013(each)-335.013(point)-335.013(group.)-566.984(Frustum-)]TJ
11.9551 TL
T*[(PointNet)-374.011([)]TJ
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11.9547 TL
T*[(v)20.0016(olv)14.995(es)-263.993(all)-263.985(the)-265.007(point)1.00964(s)-265.01(for)-263.998(computing)-263.985(the)-263.985(features)-263.995(of)-265.015(each)-264.005(ob-)]TJ
11.9563 TL
T*[(ject)-362.993(ca)1.00964(n)-1.01454(di)0.992481(date)-362.996(by)-362.988(an)-362.018(attention)-363.003(module.)-646.995(W)79.9866(e)-363.003(also)-362.003(stack)-362.988(the)]TJ
11.9547 TL
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11.9559 TL
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11.9551 TL
T*[(tice)-315(in)-314.014(2D)-314.999(object)-314.99(detection.)-504.008(In)-315.005(addition)-313.989(to)-314.994(the)]TJ
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11.9551 TL
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11.9559 TL
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11.9551 TL
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11.9559 TL
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3754.1 7066.25 l
h
3772.86 7097.44 m
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h
3806.67 7109.97 m
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3825.02 7109.98 l
3825.02 7104.21 l
3807.73 7104.21 l
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4392.15 5543.82 43.2227 43.2266 re
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4456.98 5543.82 43.2227 43.2266 re
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f
4522.37 5543.82 43.2227 43.2266 re
S
4319.21 5608.66 m
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h
S
10 M
4265.93 5997.68 m
4265.93 6055.17 l
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4265.93 6060.38 l
S
0 0 0 rg
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4265.93 6077.67 l
f
4265.93 6077.67 m
4277.46 6054.62 l
4265.93 6060.38 l
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h
S
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f
4 M
3922.99 5911.23 685.82 86.4492 re
S
0 0 0 rg
q
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ET
Q
10 M
4271.67 5795.96 m
4386.93 5795.96 l
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S
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4386.36 5887.48 l
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f
4386.24 5904.77 m
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h
S
q
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Q
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4 M
3922.99 6084.13 685.82 86.4492 re
S
0 0 0 rg
q
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ET
Q
10 M
4265.93 6545.18 m
4265.93 6602.67 l
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S
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4265.93 6607.89 l
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f
4265.93 6625.18 m
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4265.93 6625.18 l
h
S
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4 M
3922.99 6458.73 685.82 86.4492 re
S
0 0 0 rg
q
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ET
Q
10 M
4585.59 5565.44 m
4675.09 5565.44 l
4675.09 5709.52 l
4324.23 5709.52 l
S
4306.94 5709.52 m
4329.99 5721.04 l
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4306.94 5709.52 l
f
4306.94 5709.52 m
4329.99 5721.04 l
4324.23 5709.52 l
4329.99 5697.99 l
4306.94 5709.52 l
h
S
4675.09 5709.52 m
4675.09 6124.47 l
4632.56 6124.76 l
S
4615.27 6124.9 m
4638.38 6136.25 l
4632.56 6124.76 l
4638.23 6113.2 l
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f
4615.27 6124.9 m
4638.38 6136.25 l
4632.56 6124.76 l
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h
S
4545.42 5363.73 m
4732.72 5363.73 l
4732.72 6372.29 l
4386.93 6372.29 l
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S
4386.01 6452.37 m
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4386.21 6435.08 l
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f
4386.01 6452.37 m
4397.79 6429.46 l
4386.21 6435.08 l
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4386.01 6452.37 l
h
S
4 M
0 G
4012.32 5522.21 m
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3990.67 5602.95 3993.16 5604.29 3995.78 5605.37 c
3998.4 5606.46 4001.11 5607.28 4003.89 5607.83 c
4006.67 5608.38 4009.48 5608.66 4012.32 5608.66 c
4015.16 5608.66 4017.97 5608.38 4020.75 5607.83 c
4023.54 5607.28 4026.24 5606.46 4028.86 5605.37 c
4031.48 5604.29 4033.98 5602.95 4036.34 5601.38 c
4038.7 5599.8 4040.88 5598.01 4042.89 5596 c
4044.89 5594 4046.68 5591.81 4048.26 5589.45 c
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4053.34 5579.36 4054.16 5576.65 4054.71 5573.87 c
4055.27 5571.09 4055.55 5568.28 4055.55 5565.44 c
4055.55 5562.6 4055.27 5559.79 4054.71 5557 c
4054.16 5554.22 4053.34 5551.52 4052.26 5548.89 c
4051.17 5546.27 4049.84 5543.79 4048.26 5541.42 c
4046.68 5539.06 4044.89 5536.88 4042.89 5534.88 c
4040.88 5532.87 4038.7 5531.07 4036.34 5529.5 c
4033.98 5527.92 4031.48 5526.59 4028.86 5525.5 c
4026.24 5524.42 4023.54 5523.6 4020.75 5523.04 c
4017.97 5522.49 4015.16 5522.21 4012.32 5522.21 c
h
S
10 M
4012.38 5563.33 m
4011.77 5571.23 4015.55 5578.84 4022.18 5583.13 c
4028.83 5587.45 4037.3 5587.77 4044.25 5584 c
4051.22 5580.22 4055.55 5572.93 4055.55 5565 c
S
4012.32 5564.8 m
4012.21 5552.9 4002.5 5543.34 3990.59 5543.39 c
3978.72 5543.45 3969.1 5553.11 3969.1 5565 c
S
4 M
4012.32 5182.18 m
4009.39 5182.18 4006.48 5182.47 4003.61 5183.04 c
4000.73 5183.61 3997.94 5184.46 3995.23 5185.58 c
3992.52 5186.71 3989.95 5188.08 3987.51 5189.71 c
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3978.66 5197.34 3976.81 5199.59 3975.18 5202.04 c
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3969.93 5212.46 3969.09 5215.26 3968.52 5218.14 c
3967.94 5221.01 3967.66 5223.91 3967.66 5226.85 c
3967.66 5229.78 3967.94 5232.69 3968.52 5235.56 c
3969.09 5238.44 3969.93 5241.23 3971.06 5243.94 c
3972.18 5246.65 3973.55 5249.22 3975.18 5251.66 c
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3989.95 5265.62 3992.52 5266.99 3995.23 5268.11 c
3997.94 5269.23 4000.73 5270.08 4003.61 5270.66 c
4006.48 5271.23 4009.39 5271.51 4012.32 5271.51 c
4015.25 5271.51 4018.16 5271.23 4021.04 5270.66 c
4023.91 5270.08 4026.7 5269.23 4029.41 5268.11 c
4032.13 5266.99 4034.7 5265.62 4037.14 5263.98 c
4039.57 5262.36 4041.83 5260.5 4043.91 5258.43 c
4045.98 5256.36 4047.83 5254.1 4049.46 5251.66 c
4051.09 5249.22 4052.46 5246.65 4053.59 5243.94 c
4054.71 5241.23 4055.55 5238.44 4056.13 5235.56 c
4056.7 5232.69 4056.99 5229.78 4056.99 5226.85 c
4056.99 5223.91 4056.7 5221.01 4056.13 5218.14 c
4055.55 5215.26 4054.71 5212.46 4053.59 5209.76 c
4052.46 5207.05 4051.09 5204.47 4049.46 5202.04 c
4047.83 5199.59 4045.98 5197.34 4043.91 5195.27 c
4041.83 5193.19 4039.57 5191.34 4037.14 5189.71 c
4034.7 5188.08 4032.13 5186.71 4029.41 5185.58 c
4026.7 5184.46 4023.91 5183.61 4021.04 5183.04 c
4018.16 5182.47 4015.25 5182.18 4012.32 5182.18 c
h
S
10 M
4012.41 5224.69 m
4011.77 5232.84 4015.66 5240.68 4022.52 5245.12 c
4029.41 5249.59 4038.14 5249.93 4045.34 5246.01 c
4052.52 5242.09 4056.99 5234.57 4056.99 5226.39 c
S
4012.29 5226.16 m
4012.18 5213.88 4002.15 5204 3989.88 5204.05 c
3977.57 5204.11 3967.66 5214.08 3967.66 5226.39 c
S
0.855469 0.910156 0.988281 rg
4298.87 5200.91 43.2266 43.2227 re
f
4 M
0 0 0 RG
4298.87 5200.91 43.2266 43.2227 re
S
0.835938 0.910156 0.832031 rg
4366.93 5200.91 43.2227 43.2227 re
f
4366.93 5200.91 43.2227 43.2227 re
S
1 0.949219 0.800781 rg
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f
4431.77 5200.91 43.2227 43.2227 re
S
0.972656 0.808594 0.800781 rg
4497.15 5200.91 43.2227 43.2227 re
f
4497.15 5200.91 43.2227 43.2227 re
S
4284.63 5265.75 m
4748.57 5265.75 l
4750.29 5265.75 4751.95 5265.42 4753.54 5264.76 c
4755.13 5264.11 4756.53 5263.17 4757.74 5261.95 c
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h
S
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f
4558.21 5200.91 43.2227 43.2227 re
S
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f
4626.28 5200.91 43.2227 43.2227 re
S
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f
4691.11 5200.91 43.2227 43.2227 re
S
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ET
Q
0 G
4516.6 5334.91 m
4514.71 5334.91 4512.84 5335.09 4510.98 5335.46 c
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4503.83 5337.83 4502.17 5338.71 4500.59 5339.77 c
4499.02 5340.82 4497.57 5342.01 4496.23 5343.35 c
4494.89 5344.69 4493.7 5346.14 4492.64 5347.71 c
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4488.71 5371.2 4489.26 5373 4489.98 5374.75 c
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4502.17 5388.73 4503.83 5389.63 4505.57 5390.35 c
4507.32 5391.07 4509.13 5391.62 4510.98 5391.99 c
4512.84 5392.36 4514.71 5392.54 4516.6 5392.54 c
4518.5 5392.54 4520.37 5392.36 4522.23 5391.99 c
4524.08 5391.62 4525.88 5391.07 4527.63 5390.35 c
4529.38 5389.63 4531.04 5388.73 4532.61 5387.68 c
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4538.32 5382.76 4539.51 5381.31 4540.56 5379.73 c
4541.61 5378.16 4542.5 5376.5 4543.23 5374.75 c
4543.95 5373 4544.5 5371.2 4544.86 5369.35 c
4545.23 5367.49 4545.42 5365.62 4545.42 5363.73 c
4545.42 5361.83 4545.23 5359.96 4544.86 5358.1 c
4544.5 5356.25 4543.95 5354.45 4543.23 5352.7 c
4542.5 5350.95 4541.61 5349.29 4540.56 5347.71 c
4539.51 5346.14 4538.32 5344.69 4536.98 5343.35 c
4535.64 5342.01 4534.19 5340.82 4532.61 5339.77 c
4531.04 5338.71 4529.38 5337.83 4527.63 5337.1 c
4525.88 5336.38 4524.08 5335.83 4522.23 5335.46 c
4520.37 5335.09 4518.5 5334.91 4516.6 5334.91 c
h
S
10 M
4487.79 5363.73 m
4545.42 5363.73 l
S
4516.6 5392.54 m
4516.6 5334.91 l
S
4012.32 5271.52 m
4012.32 5363.73 l
4464.04 5363.73 l
S
0 g
4481.33 5363.73 m
4458.28 5352.2 l
4464.04 5363.73 l
4458.28 5375.25 l
4481.33 5363.73 l
f
4481.33 5363.73 m
4458.28 5352.2 l
4464.04 5363.73 l
4458.28 5375.25 l
4481.33 5363.73 l
h
S
4516.6 5265.75 m
4516.6 5311.16 l
S
4516.6 5328.45 m
4528.13 5305.4 l
4516.6 5311.16 l
4505.08 5305.4 l
4516.6 5328.45 l
f
4516.6 5328.45 m
4528.13 5305.4 l
4516.6 5311.16 l
4505.08 5305.4 l
4516.6 5328.45 l
h
S
4 M
4271.67 5680.7 m
4269.77 5680.7 4267.9 5680.89 4266.04 5681.25 c
4264.19 5681.63 4262.39 5682.17 4260.64 5682.89 c
4258.89 5683.62 4257.23 5684.51 4255.66 5685.56 c
4254.09 5686.61 4252.63 5687.8 4251.29 5689.14 c
4249.95 5690.48 4248.76 5691.93 4247.71 5693.51 c
4246.66 5695.08 4245.77 5696.74 4245.04 5698.49 c
4244.32 5700.24 4243.77 5702.04 4243.4 5703.89 c
4243.04 5705.75 4242.85 5707.63 4242.85 5709.52 c
4242.85 5711.41 4243.04 5713.29 4243.4 5715.14 c
4243.77 5717 4244.32 5718.8 4245.04 5720.54 c
4245.77 5722.29 4246.66 5723.95 4247.71 5725.53 c
4248.76 5727.1 4249.95 5728.55 4251.29 5729.89 c
4252.63 5731.23 4254.09 5732.43 4255.66 5733.48 c
4257.23 5734.53 4258.89 5735.41 4260.64 5736.14 c
4262.39 5736.86 4264.19 5737.41 4266.04 5737.78 c
4267.9 5738.15 4269.77 5738.33 4271.67 5738.33 c
4273.56 5738.33 4275.43 5738.15 4277.29 5737.78 c
4279.14 5737.41 4280.95 5736.86 4282.7 5736.14 c
4284.44 5735.41 4286.1 5734.53 4287.68 5733.48 c
4289.25 5732.43 4290.7 5731.23 4292.04 5729.89 c
4293.38 5728.55 4294.57 5727.1 4295.63 5725.53 c
4296.68 5723.95 4297.57 5722.29 4298.29 5720.54 c
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10 M
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4 M
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10 M
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3890.6 6288.66 m
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T*[(mark.)-657.996(In)-366.016(this)-365.011(dataset,)-395.017(the)-366.01(ensemble)-365.995(approach)-366.012(o)14.9828(v)14.9828(er)-365.986(multi-)]TJ
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Q
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q
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Q
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q
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[(.)-656.986(Our)-364.993(base)-366.015(model)-365.993(achie)25.0154(v)14.9828(es)-364.995(63.0)-366(on)]TJ
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T*[(4.4.)-250.005(Ablation)-250.012(Study)]TJ
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ET
Q
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q
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[(W)79.9796(e)-487.018(report)-487.983(the)-487.024(results)-487.986(of)-487.022(MMDetection3D\()]TJ
ET
Q
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10 0 0 10 0 0 cm BT
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1 0 0 1 208.079 109.394 Tm
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(mmlab/mmdetection3d)Tj
ET
Q
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9.46484 TL
T*[(32.0)-250.004(mAP@0.5)-249.987(on)-249.984(SUN)-250.011(RGB-D.)]TJ
ET
Q
3652.61 3936.69 m
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S
q
10 0 0 10 0 0 cm BT
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1 0 0 1 371.238 385.799 Tm
[(k)-0.100745]TJ
ET
Q
3822.77 3825.11 m
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S
q
10 0 0 10 0 0 cm BT
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(mAP@0.25)Tj
ET
Q
4366.16 3825.11 m
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q
10 0 0 10 0 0 cm BT
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(mAP@0.5)Tj
ET
Q
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S
3652.61 3803.19 m
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S
q
10 0 0 10 0 0 cm BT
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(1)Tj
ET
Q
3822.77 3691.61 m
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q
10 0 0 10 0 0 cm BT
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(65.7)Tj
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Q
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q
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q
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ET
Q
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q
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(66.3)Tj
ET
Q
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q
10 0 0 10 0 0 cm BT
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(48.5)Tj
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ET
Q
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10 0 0 10 0 0 cm BT
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(66.1)Tj
ET
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q
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(48.4)Tj
ET
Q
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q
10 0 0 10 0 0 cm BT
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[(T)79.9807(able)-250.008(4.)-250(Ablation)-249.981(study)-250.008(on)-249.978(dif)25.0011(ferent)-249.989(v)25.0066(alues)-250(of)]TJ
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3164.17 3166.87 m
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ET
Q
3573.96 3055.29 m
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ET
Q
4333.62 3055.29 m
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10 0 0 10 0 0 cm BT
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(mAP@0.25)Tj
ET
Q
4877.01 3055.29 m
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q
10 0 0 10 0 0 cm BT
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(mAP@0.5)Tj
ET
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3164.17 3053.3 m
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3164.17 3033.37 m
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3573.96 2921.79 m
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4333.62 2921.79 m
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ET
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4877.01 2921.79 m
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10 0 0 10 0 0 cm BT
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(43.4)Tj
ET
Q
3573.96 2812.2 m
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10 0 0 10 0 0 cm BT
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(center+size)Tj
ET
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4333.62 2812.2 m
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S
q
10 0 0 10 0 0 cm BT
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ET
Q
4877.01 2812.2 m
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ET
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3164.17 2810.21 m
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ET
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3573.96 2698.63 m
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4333.62 2698.63 m
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S
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(65.2)Tj
ET
Q
4877.01 2698.63 m
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(47.5)Tj
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[(X)-0.299512]TJ
ET
Q
3573.96 2589.04 m
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S
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10 0 0 10 0 0 cm BT
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(center+size)Tj
ET
Q
4333.62 2589.04 m
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S
q
10 0 0 10 0 0 cm BT
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1 0 0 1 452.686 262.192 Tm
(66.3)Tj
ET
Q
4877.01 2589.04 m
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S
q
10 0 0 10 0 0 cm BT
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(48.5)Tj
ET
Q
3164.17 2587.05 m
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10 0 0 10 0 0 cm BT
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1 0 0 1 308.862 245.915 Tm
[(T)79.9807(able)-318.014(5.)-318.006(Abl)1.002(ation)-317.984(study)-318.014(on)-317.984(the)-317.995(e)0.985668(f)24.9902(fecti)25.0174(v)14.9865(eness)-318.011(of)-318(iterati)24.9902(v)14.9865(e)-318(box)-316.982(pre-)]TJ
10.959 TL
(diction.)'
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22.391 TL
T*[(256)-421.013(sampled)-421(candidates,)-464.021(and)-422.003(are)-420.998(equipped)-421.003(with)-421.003(the)-421.998(pro-)]TJ
11.9559 TL
T*[(posed)-371.019(iterati)24.9934(v)14.9828(e)-371.982(object)-370.982(prediction)-371.007(approach.)-674(In)-372.016(e)25.0105(v)24.9811(aluation,)]TJ
11.9551 TL
T*[(we)-250(report)-249.99(the)-249.99(a)19.9918(v)14.9828(erage)-250.01(performance)-249.997(of)-249.997(25)-249.988(trials)-250.017(by)-249.988(def)9.99343(ault.)]TJ
/R9 9.9626 Tf
17.6199 TL
T*[(Sampling)-276.003(Strategy)]TJ
/R11 9.9626 Tf
86.6168 0 Td
[(W)79.9866(e)-275.998<02727374>-276.008(ablate)-275.008(the)-275.983(ef)25.0056(fects)-275.993(of)-275.993(dif)26.0055(ferent)]TJ
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[(sampling)-287.986(strate)14.9852(gies)-288.016(in)-286.999(T)79.9916(able.)]TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm BT
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1 0 0 1 426.471 159.079 Tm
(3)Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm BT
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1 0 0 1 431.452 159.079 Tm
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