VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection

CVPR 2018 Yin ZhouOncel Tuzel

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region proposal network (RPN), most existing efforts have focused on hand-crafted feature representations, for example, a bird's eye view projection... (read more)

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TASK DATASET MODEL METRIC NAME METRIC VALUE GLOBAL RANK RESULT LEADERBOARD
Object Localization KITTI Cars Easy VoxelNet AP 89.35% # 1
Birds Eye View Object Detection KITTI Cars Easy VoxelNet AP 89.35 # 4
3D Object Detection KITTI Cars Easy VoxelNet AP 77.47% # 14
Object Detection KITTI Cars Easy VoxelNet AP 77.47 # 6
Birds Eye View Object Detection KITTI Cars Easy val VoxelNet AP 89.6 # 1
3D Object Detection KITTI Cars Hard VoxelNet AP 57.73% # 14
Object Detection KITTI Cars Hard VoxelNet AP 57.73 # 5
Object Localization KITTI Cars Hard VoxelNet AP 77.39% # 1
Birds Eye View Object Detection KITTI Cars Hard VoxelNet AP 77.39 # 5
Birds Eye View Object Detection KITTI Cars Hard val VoxelNet AP 78.57 # 1
Object Detection KITTI Cars Moderate VoxelNet AP 65.11 # 5
3D Object Detection KITTI Cars Moderate VoxelNet AP 65.11% # 15
Birds Eye View Object Detection KITTI Cars Moderate VoxelNet AP 79.26% # 6
Object Localization KITTI Cars Moderate VoxelNet AP 79.26% # 2
Birds Eye View Object Detection KITTI Cars Moderate val VoxelNet AP 84.81 # 1
Birds Eye View Object Detection KITTI Cyclist Easy val VoxelNet AP 74.41 # 1
Birds Eye View Object Detection KITTI Cyclist Hard val VoxelNet AP 50.49 # 1
Birds Eye View Object Detection KITTI Cyclist Moderate val VoxelNet AP 52.18 # 1
3D Object Detection KITTI Cyclists Easy VoxelNet AP 61.22% # 10
Object Localization KITTI Cyclists Easy VoxelNet AP 66.7% # 2
3D Object Detection KITTI Cyclists Hard VoxelNet AP 44.37% # 10
Object Localization KITTI Cyclists Hard VoxelNe AP 50.55% # 2
Object Localization KITTI Cyclists Moderate VoxelNet AP 54.76% # 2
Birds Eye View Object Detection KITTI Cyclists Moderate VoxelNet AP 54.76% # 6
3D Object Detection KITTI Cyclists Moderate VoxelNet AP 48.36% # 10
Birds Eye View Object Detection KITTI Pedestrian Easy val VoxelNet AP 65.95 # 1
Birds Eye View Object Detection KITTI Pedestrian Hard val VoxelNet AP 56.98 # 1
Birds Eye View Object Detection KITTI Pedestrian Moderate val VoxelNet AP 61.05 # 1
Object Localization KITTI Pedestrians Easy VoxelNet AP 46.13% # 2
3D Object Detection KITTI Pedestrians Easy VoxelNet AP 39.48% # 7
Object Localization KITTI Pedestrians Hard VoxelNet AP 38.11% # 2
3D Object Detection KITTI Pedestrians Hard VoxelNet AP 31.51% # 7
Birds Eye View Object Detection KITTI Pedestrians Moderate VoxelNet AP 40.74% # 5
3D Object Detection KITTI Pedestrians Moderate VoxelNet AP 33.69% # 9
Object Localization KITTI Pedestrians Moderate VoxelNet AP 40.74% # 2

Methods used in the Paper