Refined Voting and Scene Feature Fusion for 3D Object Detection in Point Clouds

Table 3

3D object detection results on the ScanNet V2 [16] validation set.

ScanNet V2	Input	[email protected]	[email protected]
DSS [1]	Geo + RGB	15.2	6.8
F-PointNet [48]	Geo + RGB	19.8	10.8
GSPN [49]	Geo + RGB	30.6	17.7
3DSIS [50]	Geo + 5 views	40.2	22.5
VoteNet [12]	Geo only	58.6	33.5
HGNet [14]	Geo only	61.3	34.4
MLCVNet [13]	Geo only	64.7	42.1
H3DNet (1BB) [34]	Geo only	64.4	43.4
Pointformer [33]	Geo only	64.1	—
3DETR [44]	Geo only	65.0	47.0
BRNet [15]	Geo only	66.1	50.9
DisARM [52]	Geo only	64.2	46.5
RSFF-Net (ours)	Geo only	65.9	44.9

Bold denotes the overall best result.