yolo4dAs expected, the YOLO4D models outperform the frame stacking models. Frame stacking encodes the temporal information only through the reshaping of inputs, while YOLO4DIn YOLO4D approach, the 3D LiDAR point clouds are aggregated over time as a 4D tensor; 3D space dimensions in addition to the time dimension, which is fed to a one-shot fully convolutional