Object DGCNN: 3D Object Detection using Dynamic GraphsDownload PDF

May 21, 2021 (edited Oct 26, 2021)NeurIPS 2021 PosterReaders: Everyone
  • Keywords: 3D object detection, point clouds, dynamic graph CNN
  • TL;DR: A 3D object detection model on point clouds without post-processing.
  • Abstract: 3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D object detection architecture on point clouds. Our method models 3D object detection as message passing on a dynamic graph, generalizing the DGCNN framework to predict a set of objects. In our construction, we remove the necessity of post-processing via object confidence aggregation or non-maximum suppression. To facilitate object detection from sparse point clouds, we also propose a set-to-set distillation approach customized to 3D detection. This approach aligns the outputs of the teacher model and the student model in a permutation-invariant fashion, significantly simplifying knowledge distillation for the 3D detection task. Our method achieves state-of-the-art performance on autonomous driving benchmarks. We also provide abundant analysis of the detection model and distillation framework.
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  • Code: https://github.com/WangYueFt/detr3d
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