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3D Graph Neural Networks for RGBD Semantic Segmentation



RGBD semantic segmentation requires joint reasoning about 2D appearance and 3D geometric information. In this paper we propose a 3D graph neural network (3DGNN) that builds a k-nearest neighbor graph on top of 3D point cloud. Each node in the graph corresponds to a set of points and is associated with a hidden representation vector initialized with an appearance feature extracted by a unary CNN from 2D images. Relying on recurrent functions, every node dynamically updates its hidden representation based on the current status and incoming messages from its neighbors. This propagation model is unrolled for a certain number of time steps and the final per-node representation is used for predicting the semantic class of each pixel. We use back-propagation through time to train the model. Extensive experiments on NYUD2 and SUN-RGBD datasets demonstrate the effectiveness of our approach.


Xiaojuan Qi, Renjie Liao, Jiaya Jia, Sanja Fidler, Raquel Urtasun


ICCV 2017

Full Paper

‘3D Graph Neural Networks for RGBD Semantic Segmentation’ (PDF)

Uber ATG

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Renjie Liao is a PhD student in Machine Learning Group, Department of Computer Science, University of Toronto, supervised by Prof. Raquel Urtasun and Prof. Richard Zemel. He is also a Research Scientist in Uber Advanced Technology Group Toronto. He is also affiliated with Vector Institute. He received M.Phil. degree from Department of Computer Science and Engineering, Chinese University of Hong Kong, under the supervision of Prof. Jiaya Jia. He got B.Eng. degree from School of Automation Science and Electrical Engineering in Beihang University (former Beijing University of Aeronautics and Astronautics).
Raquel Urtasun is the Chief Scientist for Uber ATG and the Head of Uber ATG Toronto. She is also a Professor at the University of Toronto, a Canada Research Chair in Machine Learning and Computer Vision and a co-founder of the Vector Institute for AI. She is a recipient of an NSERC EWR Steacie Award, an NVIDIA Pioneers of AI Award, a Ministry of Education and Innovation Early Researcher Award, three Google Faculty Research Awards, an Amazon Faculty Research Award, a Connaught New Researcher Award, a Fallona Family Research Award and two Best Paper Runner up Prize awarded CVPR in 2013 and 2017. She was also named Chatelaine 2018 Woman of the year, and 2018 Toronto’s top influencers by Adweek magazine