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,Conclusions. In this work, YOLO4D is proposed for Spatio-temporal Real-time 3D Multi-object detection and classification from LiDAR point clouds, where the inputs are 4D