Aiming at the problem that small and irregular detection targets such as cyclists have low detection accuracy and inaccurate recognition by existing 3D target detection algorithms, MAT-PointPillars (Multi-scale Attention and Transformer PointPillars), a 3D object detection algorithm, extends PointPillars with multi-scale vision Transformers and attention mechanisms. First, the algorithm employs pillar coding for semantic point cloud encoding and introduces an attention mechanism to refine the backbone’s upsampling…