MsSVT: Mixed-scale Sparse Voxel Transformer for 3D Object Detection on Point Clouds - Dong, Shaocong; Ding, Lihe; Wang, Haiyang; Xu, Tingfa; Xu, Xinli; Wang, Jie; Bian, Ziyang; Wang, Ying; Li, Jianan (Advances in Neural Information Processing Systems, 2022)