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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.}

ing data for 3D object detection directly provides the se-mantic masks for 3D object segmentation. This is a key difference between 3D detection and 2D detection training data. In2Dobjectdetection, theboundingboxescouldonly provide weak supervisions for semantic segmentation [5]. Based on this observation, we present a novel two-stage

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

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