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PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection, CVPR 2020.
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PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection

This repo is for our CVPR 2020 paper PointVoxel-RCNN for 3D object detection from point cloud.


Authors: Shaoshuai Shi, Chaoxu Guo, Li Jiang, Zhe Wang, Jianping Shi, Xiaogang Wang, Hongsheng Li.


We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network (CNN) and PointNet-based set abstraction to learn more discriminative point cloud features. It takes advantages of efficient learning and high-quality proposals of the 3D voxel CNN and the flexible receptive fields of the PointNet-based networks. Specifically, the proposed framework summarizes the 3D scene with a 3D voxel CNN into a small set of keypoints via a novel voxel set abstraction module to save follow-up computations and also to encode representative scene features. Given the high-quality 3D proposals generated by the voxel CNN, the RoI-grid pooling is proposed to abstract proposal-specific features from the keypoints to the RoI-grid points via keypoint set abstraction with multiple receptive fields. Compared with conventional pooling operations, the RoI-grid feature points encode much richer context information for accurately estimating object confidences and locations. Extensive experiments on both the KITTI dataset and the Waymo Open dataset show that our proposed PV-RCNN surpasses state-of-the-art 3D detection methods with remarkable margins by using only point clouds.



We are still sorting out the codes of PV-RCNN, which will be integrated into the PyTorch-based 3D detection codebase [PCDet] later.


If you find this work useful in your research, please consider cite:

  title={PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection},
  author={Shi, Shaoshuai and Guo, Chaoxu and Jiang, Li and Wang, Zhe and Shi, Jianping and Wang, Xiaogang and Li, Hongsheng},
  booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
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