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VoteNet is a 3D object detection framework for point clouds that combines deep point set networks with a Hough voting mechanism to localize and classify objects in 3D space. It tackles the challenge that object centroids in 3D scenes often don’t lie on any input surface point by having each point “vote” for potential object centers; these votes are then clustered to propose object hypotheses. Once cluster centers are formed, the network regresses bounding boxes around them and classifies...