SSN: Shape Signature Networks for Multi-class Object Detection from Point Clouds
Multi-class 3D object detection aims to classify and localize objects of multiple categories from point clouds. Due to the nature of point clouds, i.e. unstructured, sparse and noisy, some features benefit-ting multi-class discrimination are underexploited, such as shape information. In this paper, we propose a novel 3D shape signature to explore the shape information from point clouds. By incorporating operations of symmetry, convex hull and chebyshev fitting, the proposed shape sig-nature is not only compact and effective but also robust to the noise, which serves as a soft constraint to improve the feature capability of multi-class discrimination. Based on the proposed shape signature, we develop the shape signature networks (SSN) for 3D object detection, which consist of pyramid feature encoding part, shape-aware grouping heads and explicit shape encoding objective. Experiments show that the proposed method performs remarkably better than existing methods on two large-scale datasets. Furthermore, our shape signature could act as a plug-and-play component and ablation study shows its effectiveness and good scalability
Code (1)
Tasks
3D Object Detectionobject-detectionObject DetectionSimilar Papers 제목 키워드 기반
SSN: Shape Signature Networks for Multi-class Object Detection from Point Clouds
Multi-class 3D object detection aims to localize and classify objects of multiple categories from point clouds. Due to the nature of point clouds, i.e. unstructured, sparse and noisy, some features benefit-ting multi-cla…
3D Object Detectionobject-detectionObject DetectionIdentification of Metallic Objects using Spectral Magnetic Polarizability Tensor Signatures: Object Classification
The early detection of terrorist threat objects, such as guns and knives, through improved metal detection, has the potential to reduce the number of attacks and improve public safety and security. To achieve this, there…
ClassificationObjectIdentification of Metallic Objects using Spectral MPT Signatures: Object Characterisation and Invariants
The early detection of terrorist threats, such as guns and knives, through improved metal detection, has the potential to reduce the number of attacks and improve public safety and security. To achieve this, there is con…
Harmonic Beltrami Signature: A Novel 2D Shape Representation for Object Classification
There is a growing interest in shape analysis in recent years. We present a novel shape signature for 2D bounded simply-connected domains, named the Harmonic Beltrami signature (HBS). The proposed signature is based on t…
General ClassificationTranslationExplicit Shape Encoding for Real-Time Instance Segmentation
In this paper, we propose a novel top-down instance segmentation framework based on explicit shape encoding, named \textbf{ESE-Seg}. It largely reduces the computational consumption of the instance segmentation by explic…
Instance SegmentationObjectobject-detectionObject Detection+3