An End-to-End Transformer Model for 3D Object Detection

ICCV 2021  ·  Ishan Misra, Rohit Girdhar, Armand Joulin ·

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla Transformer block... Specifically, we find that a standard Transformer with non-parametric queries and Fourier positional embeddings is competitive with specialized architectures that employ libraries of 3D-specific operators with hand-tuned hyperparameters. Nevertheless, 3DETR is conceptually simple and easy to implement, enabling further improvements by incorporating 3D domain knowledge. Through extensive experiments, we show 3DETR outperforms the well-established and highly optimized VoteNet baselines on the challenging ScanNetV2 dataset by 9.5%. Furthermore, we show 3DETR is applicable to 3D tasks beyond detection, and can serve as a building block for future research. read more

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Results from the Paper


Task Dataset Model Metric Name Metric Value Global Rank Benchmark
3D Object Detection ScanNetV2 3DETR-m mAP@0.25 65.0 # 4
mAP@0.5 47.0 # 5
3D Object Detection SUN-RGBD val 3DETR-m mAP@0.25 59.1 # 5
mAP@0.5 32.7 # 5

Methods