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Canonical Voting: Towards Robust Oriented Bounding Box Detection in 3D Scenes
[article]
2022
arXiv
pre-print
3D object detection has attracted much attention thanks to the advances in sensors and deep learning methods for point clouds. Current state-of-the-art methods like VoteNet regress direct offset towards object centers and box orientations with an additional Multi-Layer-Perceptron network. Both their offset and orientation predictions are not accurate due to the fundamental difficulty in rotation classification. In the work, we disentangle the direct offset into Local Canonical Coordinates
arXiv:2011.12001v3
fatcat:tmaqynytanby5kow3s7jzfbw3i