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MsSVT++: Mixed-Scale Sparse Voxel Transformer With Center V..:

Li, Jianan ; Dong, Shaocong ; Ding, Lihe.
IEEE Transactions on Pattern Analysis and Machine Intelligence.  46 (2024)  5 - p. 3736-3752 , 2024
Link: https://doi.org/10.1109/tpami.2023.3345880