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An Autonomous Vehicle (AV) requires an accurate perception of its surrounding environment to operate reliably. The perception system of an AV, which normally employs machine learning (e.g., deep learning), transforms sensory data into semantic information that enables autonomous driving. Object detection is a fundamental function of this perception system that has been tackled by several works, most of which use 2D detection methods. However, 2D methods do not provide depth information, whichdoi:10.1109/tits.2019.2892405 fatcat:dwqhqd7mwfcq3cugefxhgqx7b4