Reference 

• •Charles R. Qi, Or Litany, Kaiming He, Leonidas J. Guibas (ICCV 2019), Deep Hough Voting for 3D Object Detection in Point Clouds  
  
• •Jindong Jiang, Lunan Zheng, Fei Luo, Zhijun Zhang(2018), RedNet : Residual Encoder-Decoder Network for indoor RGB-D Semantic Segmentation