{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/pointrgcn-graph-convolution-networks-for-3d","title":"PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement","arxiv_id":"1911.12236","date":"2019-11-27","proceeding":null,"authors":["Jesus Zarzar","Silvio Giancola","Bernard Ghanem"],"abstract":"In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of other agents sharing the road. In our work, we propose PointRGCN: a graph-based 3D object detection pipeline based on graph convolutional networks (GCNs) which operates exclusively on 3D LiDAR point clouds. To perform more accurate 3D object detection, we leverage a graph representation that performs proposal feature and context aggregation. We integrate residual GCNs in a two-stage 3D object detection pipeline, where 3D object proposals are refined using a novel graph representation. In particular, R-GCN is a residual GCN that classifies and regresses 3D proposals, and C-GCN is a contextual GCN that further refines proposals by sharing contextual information between multiple proposals. We integrate our refinement modules into a novel 3D detection pipeline, PointRGCN, and achieve state-of-the-art performance on the easy difficulty for the bird eye view detection task.","url_abs":"https://arxiv.org/abs/1911.12236v1","url_pdf":"https://arxiv.org/pdf/1911.12236v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"},{"task_slug":"vehicle-detection","task_name":"vehicle detection"}],"methods":[{"method_slug":"gcn","method_name":"GCN"},{"method_slug":"graph-convolutional-networks","method_name":"Graph Convolutional Networks"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/3d-object-detection-on-kitti-cars-easy","task":"3D Object Detection","dataset":"KITTI Cars Easy","model":"PointRGCN","rank_in_archive_order":16,"of":26,"metrics":{"AP":"85.97%"},"uses_additional_data":false},{"leaderboard":"/sota/3d-object-detection-on-kitti-cars-hard","task":"3D Object Detection","dataset":"KITTI Cars Hard","model":"PointRGCN","rank_in_archive_order":15,"of":25,"metrics":{"AP":"70.60%"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1911.12236","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}