# Dynamic Edge Weights in Graph Neural Networks for 3D Object Detection Source: [Dynamic Edge Weights in Graph Neural Networks for 3D Object Detection]() Collection index: [llms.txt]() Data updated: 2025-10-25T22:34:00.401Z Authors: Sumesh Thakur, Jiju Peethambaran Published: 2020-09-17T12:56:17.000Z ## Abstract A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works, however, demonstrate the utilization of the graph neural network (GNN) as a promising approach to 3D object detection. In this work, we propose an attention based feature aggregation technique in GNN for detecting objects in LiDAR scan. We first employ a distance-aware down-sampling scheme that not only enhances the algorithmic performance but also retains maximum geometric features of objects even if they lie far from the sensor. In each layer of the GNN, apart from the linear transformation which maps the per node input features to the corresponding higher level features, a per node masked attention by specifying different weights to different nodes in its first ring neighborhood is also performed. The masked attention implicitly accounts for the underlying neighborhood graph structure of every node and also eliminates the need of costly matrix operations thereby improving the detection accuracy without compromising the performance. The experiments on KITTI dataset show that our method yields comparable results for 3D object detection. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()