GraVoS: Voxel Selection for 3D Point-Cloud Detection

Oren Shrout · Yizhak Ben-Shabat · Ayellet Tal

West Building Exhibit Halls ABC 103
[ Abstract ]
Thu 22 Jun 4:30 p.m. PDT — 6 p.m. PDT


3D object detection within large 3D scenes is challenging not only due to the sparse and irregular 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to add ground-truth objects from other scenes. Differently, we propose to modify the scenes by removing elements (voxels), rather than adding ones. Our approach selects the “meaningful” voxels, in a manner that addresses both types of dataset imbalance. The approach is general and can be applied to any voxel-based detector, yet the meaningfulness of a voxel is network-dependent. Our voxel selection is shown to improve the performance of several prominent 3D detection methods.

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