3D Graph Neural Networks for RGBD Semantic Segmentation
Abstract
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.
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ShapeConv: Shape-aware Convolutional Layer for Indoor RGB-D Semantic Segmentation
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Spherical Kernel for Efficient Graph Convolution on 3D Point Clouds
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“Thanks to their versatility, graph neural networks have been used in a variety of tasks, such as identifying diseases from brain connectivity networks [61] or population graphs [62], designing drugs using molecular graphs [63], segmenting 3D point clouds [64], optimizing shapes to be aerodynamic [65], and many more.”
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Self-citationDeep Reasoning with Knowledge Graph for Social Relationship Understanding
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PGDENet: Progressive Guided Fusion and Depth Enhancement Network for RGB-D Indoor Scene Parsing
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Context-Aware Interaction Network for RGB-T Semantic Segmentation
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Differentiable Graph Module (DGM) for Graph Convolutional Networks
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A Comprehensive Survey on Geometric Deep Learning
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CANet: Co-attention network for RGB-D semantic segmentation
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Unseen Object Instance Segmentation for Robotic Environments
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Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR-Based Perception
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SVGA-Net: Sparse Voxel-Graph Attention Network for 3D Object Detection from Point Clouds
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Cascade Graph Neural Networks for RGB-D Salient Object Detection
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Bidirectional Projection Network for Cross Dimension Scene Understanding
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Self-citationEfficient Semantic Scene Completion Network with Spatial Group Convolution
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PointMixer: MLP-Mixer for Point Cloud Understanding
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Stability and Generalization of Graph Convolutional Neural Networks
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Non-Local Aggregation for RGB-D Semantic Segmentation
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Learning to Act Properly: Predicting and Explaining Affordances from Images
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Introduction to Graph Neural Networks
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Graph Neural Networks for Molecules
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PSegNet: Simultaneous Semantic and Instance Segmentation for Point Clouds of Plants
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Efficient Convolutions for Real-Time Semantic Segmentation of 3D Point Clouds
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Self-citation
- Authors
- Qi, X., Liao, R., Jia, J., Fidler, S., & Urtasun, R.
- Affiliations
- Chinese University of Hong Kong (HK)
- University of Toronto (CA)
- Venue
- 2017 IEEE International Conference on Computer Vision (ICCV)
- Publisher
- IEEE
- Published
- 2017-10
- Pages
- 5209-5218
- OpenAlex
- W2776622059
- Cited by
- 482
- References
- 49
- Citations by year
- 2026: 9 · 2025: 28 · 2024: 39 · 2023: 52 · 2022: 62 · 2021: 122 · 2020: 71 · 2019: 68 · 2018: 30
- FWCI
- 70.80
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE/CVF International Conference on Computer Vision (ICCV) (publishedVersion)
- Rare & Special e-Zone (The Hong Kong University of Science and Technology) (submittedVersion)
- Funders
- Natural Sciences and Engineering Research Council of Canada
- Topics
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Neural Network Applications
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Keywords
- point clouds, k-nearest neighbor graph, backpropagation through time, appearance features
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