@article{fsdv2improvingfullysparse3dobject,
  title = {FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels},
  author = {Lue Fan and Feng Wang and Naiyan Wang and Zhaoxiang Zhang},
  year = {2023},
  eprint = {2308.03755},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2308.03755v1},
}