3DETR transformer for 3D Object Detection

3DETR transformer for 3D Object Detection

An End-to-End Transformer Model for 3D Object Detection

arXiv paper abstract https://arxiv.org/abs/2109.08141

arXiv PDF paper https://arxiv.org/pdf/2109.08141.pdf

GitHub https://github.com/facebookresearch/3detr

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds.

Compared to existing detection methods ... 3DETR requires minimal modifications to the vanilla Transformer block.

... find that a standard Transformer with non-parametric queries and Fourier positional embeddings is competitive with specialized architectures that employ libraries of 3D-specific operators with hand-tuned hyperparameters.

... 3DETR is conceptually simple and easy to implement, enabling further improvements by incorporating 3D domain knowledge.

... 3DETR outperforms the well-established and highly optimized VoteNet baselines on the challenging ScanNetV2 dataset by 9.5%.

... 3DETR is applicable to 3D tasks beyond detection, and can serve as a building block for future research.

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