3D Object Detection using point cloud

20191022

  • problem settings

    • RGB-D data (noisy but with RGB info)
    • Point cloud data (cleaner but no RGB)

  • voxelization

    • how to reduce computation cost?

  • PointNet

    • matrix multiplication alignment useful? can be left out?
      • depends on dataset？ easy or hard
      • input alignment vs. feature alignment
    • how to compute Critical Point Set/upper bound set? how to visualize?

  • PointNet++

    • how to set radius in MSG?
      • hyperparameter(data dependent) or adaptive
    • non-rigid object in non-Euclidean space(interesting)
      • math tools
        • non-Euclidean geometry
        • differential geometry - Gaussian curvature

  • PointRCNN

    • solid work
    • generate 3D proposal for each foreground point? anchor free

  • VoteNet

    • deformable convolution
    • operates on points - utilize all info from points
    • think backwards
      • bbox → centroid → surface points
posted @ 2019-10-22 21:08  cbw052  阅读(263)  评论(1)    收藏  举报