VoxelNet: End-to-End Learning for Point Cloud Based 3D Object (PAPER EXPLAINED)

Abstract:
Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region proposal network (RPN), most existing efforts have focused on hand-crafted feature representations, for example, a bird's eye view projection. In this work, we remove the need of manual feature engineering for 3D point clouds and propose VoxelNet, a generic 3D detection network that unifies feature extraction and bounding box prediction into a single stage, end-to-end trainable deep network. Specifically, VoxelNet divides a point cloud into equally spaced 3D voxels and transforms a group of points within each voxel into a unified feature representation through the newly introduced voxel feature encoding (VFE) layer. In this way, the point cloud is encoded as a descriptive volumetric representation, which is then connected to a RPN to generate detections. Experiments on the KITTI car detection benchmark show that VoxelNet outperforms the state-of-the-art LiDAR based 3D detection methods by a large margin. Furthermore, our network learns an effective discriminative representation of objects with various geometries, leading to encouraging results in 3D detection of pedestrians and cyclists, based on only LiDAR.
Paper Link: arxiv.org/pdf/...

[@user-lo9ii9ms7g]

Really Good Content

[@agaurav51]

You have a great way of explaining stuff, might I suggest a walk-through of YOLO3D paper?

[@meir231]

you think you can do a paper explain on Fast-Spherical-Projection-Based Point Cloud Clustering?
GREAT VIDEOS!!

[@veeven2522]

Thank you for this informative video. can you please do such a video on PointPillars and 3DSSD as well? Thanks

[@hetalivekariya7415]

Thank you for creating such a great content! Can not thank you enough for this video. However, I have a question. Do you know where can I find code for this model implementation? Or can you suggest some other model codes which were developed using voxel technique.

[@arooshmishra234]

Is there a code for this? Can this process large coloured point cloud files say in GBs?