3D Object Detection using point cloud

• 尝试了一波上传pdf/大量png都失败了
  • https://files.cnblogs.com/files/cbw052/3d-object-detection.pptx
  • slides about 3D object detection
    • PointNet
    • PointNet++
    • Frustum PointNet
    • PointRCNN
    • VoteNet

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