I. Introduction
Object detection within point cloud data is a pivotal aspect of autonomous driving systems. In self-driving cars, accurately identifying and locating objects in a 3D space using point cloud information is paramount. The utilization of point cloud data, often acquired through technologies like LiDAR (Light Detection and Ranging), is integral in enabling vehicles to perceive their surroundings in three dimensions. Object detection within this point cloud serves as a cornerstone for self-driving cars as it facilitates the recognition and classification of various entities such as vehicles, pedestrians, cyclists, and other obstacles present in the environment.