Patch Refinement -- Localized 3D Object Detection

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and a Local Refinement Network (LRN)... (read more)

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Datasets


Results from the Paper


TASK DATASET MODEL METRIC NAME METRIC VALUE GLOBAL RANK RESULT BENCHMARK
Birds Eye View Object Detection KITTI Cars Easy Patches AP 89.78 # 2
Object Detection KITTI Cars Easy Patches AP 87.87 # 1
Birds Eye View Object Detection KITTI Cars Hard Patches AP 79.22 # 4
Object Detection KITTI Cars Hard Patches AP 68.91 # 1
Birds Eye View Object Detection KITTI Cars Moderate Patches AP 86.55% # 3
Object Detection KITTI Cars Moderate Patches AP 77.16 # 1

Methods used in the Paper


METHOD TYPE
RPN
Region Proposal