“…Deep learning-related technologies are increasingly integrated into people’s daily life, and object detection algorithms ( Qi et al, 2021 ; Liu et al, 2022a , b ; Xu et al, 2022 ), as a crucial component of the autonomous driving perception layer, can create a solid foundation for behavioral judgments during autonomous driving. Although object detection algorithms based on 2D images ( Bochkovskiy et al, 2020 ; Bai et al, 2022 ; Cheon et al, 2022 ; Gromada et al, 2022 ; Long et al, 2022 ; Otgonbold et al, 2022 ; Wahab et al, 2022 ; Wang et al, 2022 ) have had a lot of success at this stage, single-view images cannot completely reflect the position pose, and motion orientation of objects in 3D space due to the lack of depth information in 2D images.…”