Efficiently detect 3D objects in 2D range image with graph convolution kernels
Efficiently detect 3D objects in 2D range image with graph convolution kernels
To the Point: Efficient 3D Object Detection in the Range Image with Graph Convolution Kernels
arXiv paper abstract https://arxiv.org/abs/2106.13381
arXiv PDF paper https://arxiv.org/pdf/2106.13381.pdf
3D object detection is vital for many robotics applications.
For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view.
... performs competitively on the Waymo Open Dataset and improves the state-of-the-art AP for pedestrian detection from 69.7% to 75.5%.
... our smallest model, which still outperforms the popular PointPillars in quality, requires 180 times fewer FLOPS and model parameters
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