This is an unofficial implementation of "Deep Hough Voting for 3D Object Detection in Point Clouds" (https://arxiv.org/abs/1904.09664)

• Prepare SUN RGB-D dataset following the instructions of https://github.com/charlesq34/frustum-pointnets/tree/master/sunrgbd, note you only need to run extract_rgbd_data.m
• Compile custom Tensorflow ops as described in PointNet++
• Pass the root folder of generated data in MyDataFlow and run run.py.

• Data augmentation
• Test/Validation mAP
• Train/Validation split
• 3D NMS