Hypergraph Representation for Detecting 3D Objects from Noisy Point Clouds
Ping Jiang, Xiaoheng Deng, Leilei Wang, Zailiang Chen, Shichao Zhang
Abstract
It is challenging to detect 3D objects from noise point clouds by Graph Neural Networks (GNNs), though graph-based methods have shown promising results in 3D classifications. Since strong robustness against noise is offered by hypergraph, a relative paradigm named HyperGraph Construction-Compression-Conversion (HG3C) is proposed for detecting 3D objects from noise point clouds. Our method presents the capacity of reducing graph redundancy and capturing the variances from multiple features, by pre-encoding the graph, to improve the graph representations in point clouds. A fused graph neural network is further designed to predict the shape and category of the target in converted graphs. The experiments, on both the KITTI and Nuscene, show that the proposed approach achieves leading accuracy. Our results demonstrate the potential of using the hypergraph transformation to extract and compress point cloud information from noisy point clouds.