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I'm currently working on a 3D object detection project using PointCloud data captured from a Realsense D405 camera. Here's my current setup:

  1. I've collected custom datasets from a Realsense D405 camera and formatted them to match the SUNRGBD dataset structure
  2. I'm using the TR3D model () for detecting 9 different objects
  3. However, I'm not satisfied with the detection performance I'm getting with TR3D

I'm specifically looking for:

  1. Models that rely solely on PointCloud data (x,y,z,r,g,b) without leveraging 2D image features
  2. Ways to improve TR3D's performance
  3. SOTA models that work well with SUNRGBD dataset format
  4. Any recommended models that can be trained with custom PointCloud datasets

I've searched through Papers With Code and GitHub but haven't found suitable open-source alternatives yet. Any suggestions or guidance would be greatly appreciated.

Development Environment:

  • Ubuntu 22.04
  • ROS2 Humble
  • Python & C++

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