VoxNet swMATH ID: 36666 Software Authors: Maturana, Daniel; Scherer, Sebastian Description: VoxNet: A 3D Convolutional Neural Network for real-time object recognition. Robust object recognition is a crucial skill for robots operating autonomously in real world environments. Range sensors such as LiDAR and RGBD cameras are increasingly found in modern robotic systems, providing a rich source of 3D information that can aid in this task. However, many current systems do not fully utilize this information and have trouble efficiently dealing with large amounts of point cloud data. In this paper, we propose VoxNet, an architecture to tackle this problem by integrating a volumetric Occupancy Grid representation with a supervised 3D Convolutional Neural Network (3D CNN). We evaluate our approach on publicly available benchmarks using LiDAR, RGBD, and CAD data. VoxNet achieves accuracy beyond the state of the art while labeling hundreds of instances per second. Homepage: https://ieeexplore.ieee.org/document/7353481 Source Code: https://github.com/Durant35/VoxNet Dependencies: Python Related Software: PointNet; OctNet; ImageNet; AlexNet; PointCNN; Adam; RotationNet; SPLATNet; VoxelNet; Tensor2Tensor; 3D2SeqViews; TensorFlow; PointSIFT; SSD; ShapeNet; FoldingNet; PointConv; SqueezeSegV2; SnapNet; MeshCNN Cited in: 18 Documents all top 5 Cited by 67 Authors 2 Balu, Aditya 2 Cui, Zhiming 2 Ghadai, Sambit 2 Han, Zhizhong 2 Krishnamurthy, Adarsh 2 Liu, Yu-Shen 2 Sarkar, Soumik 2 Wang, Wenping 2 Yang, Lei 2 Zwicker, Matthias 1 Ahn, Sungjin 1 Barnes, Nick 1 Bassir, David Hicham 1 Chen, Chun Lung Philip 1 Chen, Chang 1 Chen, Mingjia 1 Deng, Fei 1 Fan, Bo 1 Galliani, Silvano 1 Gao, Jiangjiang 1 Giani, Stefano 1 Gould, Stephen 1 Gu, Min 1 Hackel, Timo 1 Han, Junwei 1 He, Fazhi 1 Hong, Fangzhou 1 Joseph-Rivlin, Mor 1 Khan, Salman H. 1 Kimmel, Ron 1 Lan, Jinhui 1 Lee, Xian Yeow 1 Li, Feifan 1 Li, Peifang 1 Lin, Lin 1 Liu, Ligang 1 Liu, Xinhai 1 Liu, Zhenbao 1 Lopata, A. V. 1 Lu, Honglei 1 Miles, Victoria 1 Moskvitin, Viktor M. 1 Orlova, S. R. 1 Pai, Gautam P. 1 Peng, Yifan 1 Ping, Yuhan 1 Ramasinghe, Sameera 1 Schindler, Konrad 1 Semenova, Nadezhda Igorevna 1 Shang, Feifei 1 Singh, Pradeep 1 Sochen, Nir 1 Song, Yupeng 1 Usvyatsov, Mikhail 1 Van Biesbroeck, Antoine 1 Vogt, Oliver 1 Vong, Chi-Man 1 Wang, Bingxu 1 Wang, Changbo 1 Wegner, Jan Dirk 1 Wei, Guangshun 1 Wei, Guodong 1 Ying, Lexing 1 Zepeda-Núñez, Leonardo 1 Zhou, Yuanfeng 1 Zhu, Jie 1 Zou, Qianfang all top 5 Cited in 10 Serials 7 Computer Aided Geometric Design 2 International Journal of Computer Vision 1 Journal of Computational Physics 1 Journal of Computational and Applied Mathematics 1 Machine Learning 1 Automation and Remote Control 1 IEEE Transactions on Image Processing 1 Journal of Machine Learning Research (JMLR) 1 International Journal of Computational Methods 1 Russian Journal of Nonlinear Dynamics all top 5 Cited in 9 Fields 14 Computer science (68-XX) 9 Numerical analysis (65-XX) 2 Information and communication theory, circuits (94-XX) 1 Approximations and expansions (41-XX) 1 Harmonic analysis on Euclidean spaces (42-XX) 1 Differential geometry (53-XX) 1 Probability theory and stochastic processes (60-XX) 1 Statistics (62-XX) 1 Biology and other natural sciences (92-XX) Citations by Year