USING EDGECONV TO IMPROVE 3D OBJECT DETECTION FROM RGB-D DATA

Abstract. In this paper, we proposed a novel 3D deep learning model for object localization and object bounding boxes estimation. To increase the detection efficiency of small objects in the large scale scenes, the local neighbourhood geometric structure information of objects has been taken into the Edgeconv model, which can operate the original point clouds. We evaluated the 3D bounding box with high resolution in the RGB-D dataset and acquired stable effectiveness even under the sparse points and the strong occlusion. The experimental results indicate that our method achieved the higher mean average precision and better IOU of bounding boxes in SUN RGB-D dataset and KITTI benchmark.