Extended Graph Convolutional Networks for 3D Object Classification in Point Clouds

Point clouds are a popular way to represent 3D data. Due to the sparsity and irregularity of the point cloud data, learning features directly from point clouds become complex and thus huge importance to methods that directly consume points. This paper focuses on interpreting the point cloud inputs using the graph convolutional networks (GCN). Further, we extend this model to detect the objects found in the autonomous driving datasets and the miscellaneous objects found in the non-autonomous driving datasets. We proposed to reduce the runtime of a GCN by allowing the GCN to stochastically sample fewer input points from point clouds to infer their larger structure while preserving its accuracy. Our proposed model offer improved accuracy while drastically decreasing graph building and prediction runtime.