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GFENet: Group-Free Enhancement Network for Indoor Scene 3D Object Detection

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Advances in Computer Graphics (CGI 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14497))

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Abstract

The state-of-the-art group-free network (GFNet) has achieved superior performance for indoor scene 3D object detection. However, we find there is still room for improvement in the following three aspects. Firstly, seed point features extracted by multi-layer perception (MLP) in the backbone (PointNet++) neglect to consider the different importance of each level feature. Second, the single-scale transformer module in GFNet to handle hand-crafted grouping via Hough Voting cannot adequately model the relationship between points and objects. Finally, GFNet directly utilizes the decoders to predict detection results disregarding the different contributions of decoders at each stage. In this paper, we propose the group-free enhancement network (GFENet) to tackle the above issues. Specifically, our network mainly consists of three lifting modules: the weighted MLP (WMLP) module, the hierarchical-aware module, and the stage-aware module. The WMLP module adaptively combines features of different levels in the backbone before max-pooling for informative feature learning. The hierarchical-aware module formulates a hierarchical way to mitigate the negative impact of insufficient modeling of points and objects. The stage-aware module aggregates multi-stage predictions adaptively for better detection performance. Extensive experiments on ScanNet V2 and SUN RGB-D datasets demonstrate the effectiveness and advantages of our method against existing 3D object detection methods.

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Acknowledgements

This work was supported by Beijing Natural Science Foundation (4232023), R\( { \& }\)D Program of Beijing Municipal Education Commission (KM202310009002), and National Natural Science Foundation of China (62102208). The authors also thank the editor and all the reviewers for their very helpful comments to improve this paper.

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Authors and Affiliations

  1. North China University of Technology, Beijing, China

    Feng Zhou, Mengxiao Zhu & Xingquan Cai

  2. Peng Cheng Laboratory, Shenzhen, China

    Ju Dai & Junjun Pan

  3. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China

    Junjun Pan

  4. AI Research Center, Hangzhou Innovation Institute, Beihang University, Hangzhou, China

    Bin Huang

  5. Beijing Technology and Business University, Beijing, China

    Chen Wang

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  1. Feng Zhou
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  2. Ju Dai
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  3. Junjun Pan
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  6. Bin Huang
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  7. Chen Wang
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Corresponding author

Correspondence to Ju Dai .

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Editors and Affiliations

  1. Shanghai Jiao Tong University, Shanghai, China

    Bin Sheng

  2. Shanghai Jiao Tong University, Shanghai, China

    Lei Bi

  3. University of Sydney, Sydney, NSW, Australia

    Jinman Kim

  4. MIRALab-CUI, University of Geneva, Carouge, Geneve, Switzerland

    Nadia Magnenat-Thalmann

  5. Swiss Federal Institute of Technology, Lausanne, Switzerland

    Daniel Thalmann

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Zhou, F. et al. (2024). GFENet: Group-Free Enhancement Network for Indoor Scene 3D Object Detection. In: Sheng, B., Bi, L., Kim, J., Magnenat-Thalmann, N., Thalmann, D. (eds) Advances in Computer Graphics. CGI 2023. Lecture Notes in Computer Science, vol 14497. Springer, Cham. https://doi.org/10.1007/978-3-031-50075-6_10

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  • DOI: https://doi.org/10.1007/978-3-031-50075-6_10

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