VoxNet swMATH ID: 36666 Software Authors: Daniel Maturana; Sebastian Scherer 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; VoxelNet; SPLATNet; PointSIFT; PointConv; SqueezeSegV2; SnapNet; Faster R-CNN; YOLO; KITTI; ScanNet; DeepLab; ShapeNet; Grad-CAM; MinkowskiEngine; KPConv Cited in: 12 Publications all top 5 Cited by 45 Authors 2 Balu, Aditya 2 Cui, Zhiming 2 Ghadai, Sambit 2 Krishnamurthy, Adarsh 2 Sarkar, Soumik 2 Wang, Wenping 2 Yang, Lei 1 Barnes, Nick 1 Bassir, David Hicham 1 Chen, Mingjia 1 Galliani, Silvano 1 Gao, Jiangjiang 1 Gould, Stephen 1 Gu, Min 1 Hackel, Timo 1 Han, Zhizhong 1 Hong, Fangzhou 1 Joseph-Rivlin, Mor 1 Kimmel, Ron 1 Lan, Jinhui 1 Lee, Xian Yeow 1 Li, Feifan 1 Liu, Ligang 1 Liu, Xinhai 1 Liu, Yu-Shen 1 Lopata, A. V. 1 Orlova, S. R. 1 Pai, Gautam P. 1 Ping, Yuhan 1 Ramasinghe, Sameera 1 Schindler, Konrad 1 Shang, Feifei 1 Singh, Pradeep Kumar 1 Sochen, Nir 1 Usvyatsov, Mikhail 1 Van Biesbroeck, Antoine 1 Wang, Bingxu 1 Wang, Changbo 1 Wegner, Jan D. 1 Wei, Guangshun 1 Wei, Guodong 1 Zhou, Yuanfeng 1 Zhu, Jie 1 Zou, Qianfang 1 Zwicker, Matthias Cited in 5 Serials 6 Computer Aided Geometric Design 2 International Journal of Computer Vision 1 Machine Learning 1 Automation and Remote Control 1 International Journal of Computational Methods Cited in 4 Fields 8 Computer science (68-XX) 6 Numerical analysis (65-XX) 2 Information and communication theory, circuits (94-XX) 1 Mathematical logic and foundations (03-XX) Citations by Year