Danila Rukhovich, Anna Vorontsova, Anton Konushin
Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D object detection method. It is a simple yet effective method that uses a voxel representation of a point cloud and processes voxels with sparse convolutions. FCAF3D can handle large-scale scenes with minimal runtime through a single fully convolutional feed-forward pass. Existing 3D object detection methods make prior assumptions on the geometry of objects, and we argue that it limits their generalization ability. To get rid of any prior assumptions, we propose a novel parametrization of oriented bounding boxes that allows obtaining better results in a purely data-driven way. The proposed method achieves state-of-the-art 3D object detection results in terms of mAP@0.5 on ScanNet V2 (+4.5), SUN RGB-D (+3.5), and S3DIS (+20.5) datasets. The code and models are available at https://github.com/samsunglabs/fcaf3d.
| Task | Dataset | Metric | Value | Model |
|---|---|---|---|---|
| Object Detection | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| Object Detection | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| Object Detection | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| Object Detection | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| Object Detection | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| Object Detection | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| Object Detection | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| Object Detection | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| Object Detection | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| Object Detection | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| Object Detection | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| Object Detection | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |
| 3D | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| 3D | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| 3D | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| 3D | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| 3D | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| 3D | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| 3D | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| 3D | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| 3D | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| 3D | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| 3D | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| 3D | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |
| 3D Object Detection | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| 3D Object Detection | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| 3D Object Detection | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| 3D Object Detection | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| 3D Object Detection | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| 3D Object Detection | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| 3D Object Detection | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| 3D Object Detection | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| 3D Object Detection | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| 3D Object Detection | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| 3D Object Detection | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| 3D Object Detection | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |
| 2D Classification | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| 2D Classification | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| 2D Classification | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| 2D Classification | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| 2D Classification | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| 2D Classification | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| 2D Classification | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| 2D Classification | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| 2D Classification | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| 2D Classification | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| 2D Classification | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| 2D Classification | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |
| 2D Object Detection | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| 2D Object Detection | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| 2D Object Detection | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| 2D Object Detection | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| 2D Object Detection | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| 2D Object Detection | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| 2D Object Detection | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| 2D Object Detection | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| 2D Object Detection | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| 2D Object Detection | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| 2D Object Detection | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| 2D Object Detection | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |
| 16k | SUN-RGBD val | mAP@0.25 | 64.2 | FCAF3D (Geo only) |
| 16k | SUN-RGBD val | mAP@0.5 | 48.9 | FCAF3D (Geo only) |
| 16k | 3RScan | mAP@0.25 | 60.1 | FCAF3D |
| 16k | 3RScan | mAP@0.5 | 42.6 | FCAF3D |
| 16k | ScanNet++ | mAP@0.25 | 22.3 | FCAF3D |
| 16k | ScanNet++ | mAP@0.5 | 11.4 | FCAF3D |
| 16k | S3DIS | mAP@0.25 | 66.7 | FCAF3D |
| 16k | S3DIS | mAP@0.5 | 45.9 | FCAF3D |
| 16k | MultiScan | mAP@0.25 | 53.8 | FCAF3D |
| 16k | MultiScan | mAP@0.5 | 40.7 | FCAF3D |
| 16k | ScanNetV2 | mAP@0.25 | 71.5 | FCAF3D |
| 16k | ScanNetV2 | mAP@0.5 | 57.3 | FCAF3D |