Cited by 4833D Shape Modeling and AnalysisAdvanced Neural Network ApplicationsAdvanced Vision and Imaging

3D Graph Neural Networks for RGBD Semantic Segmentation

Qi, Xiaojuan, Liao, Renjie, Jia, Jiaya, Fidler, Sanja, Urtasun, Raquel·2017·2017 IEEE International Conference on Computer Vision (ICCV)

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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Registry

Crossref · 10.1109/iccv.2017.556

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50 of 50 references verified0 citation errors · 0 not checkable

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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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