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A Hierarchical Graph Network for 3D Object Detection on ...

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.

attentive GConv, which captures object shapes by mod-elling the geometric positions of points. Shape-attentive Graph Convolution. Consider a point set X = {xi ∈ RD+3}n i=1, where a point xi = [fi,pi], pi ∈ R3 is the geometric position and fi ∈ RD is the D-dimensional feature. From X, we want to generate a point set X′ = {xi ∈ RD ′+3 ...

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