Faster, lighter, more accurate real-time 3D object detect by early fuse 2D/3D features with TR3D+FF
Faster, lighter, more accurate real-time 3D object detect by early fuse 2D/3D features with TR3D+FF
TR3D: Towards Real-Time Indoor 3D Object Detection
arXiv paper abstract https://arxiv.org/abs/2302.02858
arXiv PDF paper https://arxiv.org/pdf/2302.02858.pdf
... sparse 3D convolutions have changed 3D object detection.
... analyze the performance of such methods and localize the weaknesses.
... end up with TR3D: a fast fully-convolutional 3D object detection model trained end-to-end, that achieves state-of-the-art results on the standard benchmarks, ScanNet v2, SUN RGB-D, and S3DIS.
... introduce an early fusion of 2D and 3D features.
... employ ... fusion module to make conventional 3D object detection methods multimodal and demonstrate an impressive boost in performance.
... model with early feature fusion ... TR3D+FF, outperforms existing 3D object detection approaches on the SUN RGB-D dataset ...
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