3d Point Cloud Object Detection With Multi-View Convolutional Neural Network

Efficient detection of three dimensional (3D) objects in point clouds is a challenging problem. Performing 3D descriptor matching or 3D scanning-window search with detector are both time-consuming due to the 3-dimensional complexity. One solution is to project 3D point cloud into 2D images and thus transform the 3D detection problem into 2D space, but projection at multiple viewpoints and rotations produce a large amount of 2D detection tasks, which limit the performance and complexity of the 2D detection algorithm choice. We propose to use convolutional neural network (CNN) for the 2D detection task, because it can handle all viewpoints and rotations for the same class of object together, as well as predicting multiple classes of objects with the same network, without the need for individual detector for each object class. We further improve the detection efficiency by concatenating two extra levels of early rejection networks with binary outputs before the multi-class detection network. Experiments show that our method has competitive overall performance with at least one-order of magnitude speedup comparing with latest 3D point cloud detection methods.