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What is: CenterPoint?

SourceCenter-based 3D Object Detection and Tracking
Year2000
Data SourceCC BY-SA - https://paperswithcode.com

CenterPoint is a two-stage 3D detector that finds centers of objects and their properties using a keypoint detector and regresses to other attributes, including 3D size, 3D orientation and velocity. In a second-stage, it refines these estimates using additional point features on the object. CenterPoint uses a standard Lidar-based backbone network, i.e., VoxelNet or PointPillars, to build a representation of the input point-cloud. CenterPoint predicts the relative offset (velocity) of objects between consecutive frames, which are then linked up greedily -- so in Centerpoint, 3D object tracking simplifies to greedy closest-point matching.