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Point-GNN: Graph Neural Network for 3D Object Detection …

Point-GNN: Graph Neural Network for 3D Object Detection in a Point CloudWeijing Shi and Ragunathan (Raj) RajkumarCarnegie Mellon UniversityPittsburgh, PA 15213{weijings, this paper, we propose a Graph Neural Network todetect objects from a LiDAR point cloud. Towards thisend, we encode the point cloud efficiently in a fixed ra-dius near-neighbors Graph . We design a Graph Neural net-work, named Point-GNN, to predict the category and shapeof the Object that each vertex in the Graph belongs to. InPoint-GNN, we propose an auto-registration mechanism toreduce translation variance, and also design a box merg-ing and scoring operation to combine detections from mul-tiple vertices accurately. Our experiments on the KITTI benchmark show the proposed approach achieves leadingaccuracy using the point cloud alone and can even sur-pass fusion-based algorithms.}

A graph neural network reuses the graph edges in every layer, and avoids grouping and sampling the points repeatedly. Studies [15] [9] [2] [17] have looked into using graph neural network for the classification and the semantic seg-mentation of a point cloud. However, little research has looked into using a graph neural network for the 3D object

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  Network, Neural network, Neural

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