yolo4dYOLO4D: A Spatio-temporal Approach for Real-time Multi-object Detection and Classification from LiDAR Point Clouds. Dec 9, 2018 on Ahmad A. Al Sallab, Ibrahim Sobh,As expected, the YOLO4D models outperform the frame stacking models. Frame stacking encodes the temporal information only through the reshaping of inputs, while YOLO4D