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VoxelNet: End-to-End Learning for Point Cloud Based 3D ...

VoxelNet: End-to-End Learning for Point Cloud Based 3D Object DetectionYin ZhouApple TuzelApple detection of objects in 3D Point clouds is acentral problem in many applications, such as autonomousnavigation, housekeeping robots, and augmented/virtual re-ality. To interface a highly sparse LiDAR Point Cloud with aregion proposal network (RPN), most existing efforts havefocused on hand-crafted feature representations, for exam-ple, a bird s eye view projection. In this work, we removethe need of manual feature engineering for 3D Point cloudsand propose VoxelNet, a generic 3D detection network thatunifies feature extraction and bounding box prediction intoa single stage, End-to-End trainable deep network. Specifi-cally, VoxelNet divides a Point Cloud into equally spaced 3 Dvoxels and transforms a group of points within each voxelinto a unified feature representation through the newly in-troduced voxel feature encoding (VFE) layer.

Feature-n Element-wise Maxpool Voxel-wise Feature 1 4 2 3 1 … t Fully Connected Neural Net Figure 2. VoxelNet architecture. The feature learning network takes a raw point cloud as input, partitions the space into voxels, and transforms points within each voxel to a vector representation characterizing the shape information. The space is ...

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  Feature, Learning, Feature learning

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