# 3D Object Detection Combining Semantic and Geometric Features from Point Clouds

arXiv: https://arxiv.org/abs/2110.04704 · HTML: https://mlsanity.com/paper/2110.04704/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 35 references that are in the map.
- First posted on arXiv 10 Oct 2021.

## Builds on (most cited first, 27 of 27)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Focal Loss for Dense Object Detection](https://mlsanity.com/paper/1708.02002/) (2017)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [3DSSD: Point-based 3D Single Stage Object Detector](https://mlsanity.com/paper/2002.10187/) (2020)
- [Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection](https://mlsanity.com/paper/2012.15712/) (2020)
- [From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network](https://mlsanity.com/paper/1907.03670/) (2019)
- [Joint 3D Proposal Generation and Object Detection from View Aggregation](https://mlsanity.com/paper/1712.02294/) (2017)
- [STD: Sparse-to-Dense 3D Object Detector for Point Cloud](https://mlsanity.com/paper/1907.10471/) (2019)
- [Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1706.01307/) (2017)
- [Multi-Task Multi-Sensor Fusion for 3D Object Detection](https://mlsanity.com/paper/2012.12397/) (2020)
- [EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection](https://mlsanity.com/paper/2007.08856/) (2020)
- [TANet: Robust 3D Object Detection from Point Clouds with Triple Attention](https://mlsanity.com/paper/1912.05163/) (2019)
- [CIA-SSD: Confident IoU-Aware Single-Stage Object Detector From Point Cloud](https://mlsanity.com/paper/2012.03015/) (2020)
- [SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation](https://mlsanity.com/paper/2108.06709/) (2021)
- [Sparse 3D convolutional neural networks](https://mlsanity.com/paper/1505.02890/) (2015)
- [RangeRCNN: Towards Fast and Accurate 3D Object Detection with Range Image Representation](https://mlsanity.com/paper/2009.00206/) (2020)
- [From Voxel to Point: IoU-guided 3D Object Detection for Point Cloud with Voxel-to-Point Decoder](https://mlsanity.com/paper/2108.03648/) (2021)
- [3D IoU-Net: IoU Guided 3D Object Detector for Point Clouds](https://mlsanity.com/paper/2004.04962/) (2020)
- [SA-Det3D: Self-Attention Based Context-Aware 3D Object Detection](https://mlsanity.com/paper/2101.02672/) (2021)
- [SIENet: Spatial Information Enhancement Network for 3D Object Detection from Point Cloud](https://mlsanity.com/paper/2103.15396/) (2021)

## Built on by (most cited first, 1 of 1)

- [Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data](https://mlsanity.com/paper/2409.06625/) (2024)

## Abstract (arXiv)

In this paper, we investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to regular grids, which can be processed with the current advanced feature learning frameworks based on convolutional layers for semantic feature learning. Whereas the point-based methods can better extract the geometric feature of the point due to the coordinate reservations. The combination of the two is an effective solution for 3D object detection from point clouds. However, most current methods use a voxel-based detection head with anchors for final classification and localization. Although the preset anchors cover the entire scene, it is not suitable for point clouds detection tasks with larger scenes and multiple categories due to the limitation of voxel size. In this paper, we propose a voxel-to-point module (VTPM) that captures semantic and geometric features. The VTPM is a Voxel-Point-Based Module that finally implements 3D object detection in point space, which is more conducive to the detection of small-size objects and avoids the presets of anchors in inference stage. In addition, a Confidence Adjustment Module (CAM) with the center-boundary-aware confidence attention is proposed to solve the misalignment between the predicted confidence and proposals in the regions of the interest (RoI) selection. The SGNet proposed in this paper has achieved state-of-the-art results for 3D object detection in the KITTI dataset, especially in the detection of small-size objects such as cyclists. Actually, as of September 19, 2021, for KITTI dataset, SGNet ranked 1st in 3D and BEV detection on cyclists with easy difficulty level, and 2nd in the 3D detection of moderate cyclists.