目录概要Motivation整体架构流程技术细节Multi-scaleCenterProposalNetworkMulti-scaleCenterTransformerDecoderMulti-frameCenterFormer小结论文地址：[2209.05588]CenterFormer:Center-basedTransformerfor3DObjectDetection(arxiv.org)代码地址：GitHub-TuSimple/centerformer:ImplementationforCenterFormer:Center-basedTransformerfor3DObjectDe