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PointRCNN: 3D Object Proposal Generation and Detection …

pointrcnn : 3d object proposal generation and detection from Point CloudShaoshuai Shi Xiaogang Wang Hongsheng LiThe Chinese University of Hong Kong{ssshi, xgwang, this paper, we propose pointrcnn for 3D Object de-tection from raw point cloud. The whole framework iscomposed of two stages: stage-1 for the bottom-up 3 Dproposal Generation and stage-2 for refining proposals inthe canonical coordinates to obtain the final Detection re-sults. Instead of generating proposals from RGB imageor projecting point cloud to bird s view or voxels as pre-vious methods do, our stage-1 sub-network directly gen-erates a small number of high-quality 3D proposals frompoint cloud in a bottom-up manner via segmenting the pointcloud of the whole scene into foreground points and back-ground.}

Unlike object detection from 2D images, 3D objects in autonomous driving scenes are naturally and well separated 770. by annotated 3D bounding boxes. In other words, the train-ing data for 3D object detection directly provides the se-mantic masks for 3D object segmentation. This is a …

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  Generation, Proposal, Object, Detection, Pointrcnn, 3d object proposal generation and detection

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