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CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Clouds

Haiyang Wang · lihe Ding · Shaocong Dong · Shaoshuai Shi · Aoxue Li · Jianan Li · Zhenguo Li · Liwei Wang

Keywords: [ 3D Bounding Boxes ] [ point clouds ] [ 3D Deep Learning ] [ 3D object detection ]


We present a novel two-stage fully sparse convolutional 3D object detection framework, named CAGroup3D. Our proposed method first generates some high-quality 3D proposals by leveraging the class-aware local group strategy on the object surface voxels with the same semantic predictions, which considers semantic consistency and diverse locality abandoned in previous bottom-up approaches. Then, to recover the features of missed voxels due to incorrect voxel-wise segmentation, we build a fully sparse convolutional RoI pooling module to directly aggregate fine-grained spatial information from backbone for further proposal refinement. It is memory-and-computation efficient and can better encode the geometry-specific features of each 3D proposal. Our model achieves state-of-the-art 3D detection performance with remarkable gains of +3.6% on ScanNet V2 and +2.6% on SUN RGB-D in term of mAP@0.25. Code will be available at

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