Transcription of A Hierarchical Graph Network for 3D Object Detection on ...
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A Hierarchical Graph Network for 3D Object Detection on Point CloudsJintai Chen1 , Biwen Lei1 , Qingyu Song1 , Haochao Ying1, Danny Z. Chen2, Jian Wu1 1 Zhejiang University, Hangzhou, 310027, China2 Department of Computer Science and Engineering, University of Notre Dame, Notre Dame, IN 46556, Object Detection on point clouds finds many appli-cations. However, most known point cloud Object detec-tion methods did not adequately accommodate the charac-teristics ( , sparsity) of point clouds, and thus some keysemantic information ( , shape information) is not wellcaptured. In this paper, we propose a new Graph convo-lution (GConv) based Hierarchical Graph Network (HGNet)for 3D Object Detection , which processes raw point cloudsdirectly to predict 3D bounding boxes. HGNet effectivelycaptures the relationship of the points and utilizes the multi-level semantics for Object Detection .
3. Hierarchical Graph Network 3.1. Motivation and Overview We aim to develop a new effective method for 3D ob-ject detection on point clouds. Different from 2D image data, point clouds often do not present clear object shape information (e.g., corners and edges), and thus some shape-attentive feature extractors are needed to process point clouds.
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