In LiDAR, laser light is sent from a source (transmitter) and reflected from objects in the scene. The reflected light is detected by the system receiver and the time of flight (TOF) is used to develop a distance map of the objects in the scene.

The object-wise feature extractors project LiDAR point clouds into 2D representations and generate the object proposals using 2D networks. Then, they regress the region proposals to predict the 3D bounding boxes.

Lucifer, also known as Satan and The Devil, is the main antagonist of the Supernatural franchise.