# FSD V2: Improving Fully Sparse 3D Object Detection With Virtual Voxels

> Research article (IEEE Transactions on Pattern Analysis and Machine Intelligence, 2024) · cited 30× · AI/ML

**Wikidata**: [openalex:W4404520687](https://www.wikidata.org/wiki/openalex:W4404520687)  
**Source**: https://4ort.xyz/entity/fsd-v2-improving-fully-sparse-3d-object-detection-with-virtual-voxels