论文标题

3D点云理解的全球情境意识卷积

Global Context Aware Convolutions for 3D Point Cloud Understanding

论文作者

Zhang, Zhiyuan, Hua, Binh-Son, Chen, Wei, Tian, Yibin, Yeung, Sai-Kit

论文摘要

由于引入了直接在神经网络中消耗3D点云的引入,对3D点云进行深度学习的最新进展已在场景理解任务中表现出巨大的承诺。但是,点云数据可能具有任意旋转,尤其是从3D扫描中获得的旋转。最近的作品表明,可以使用旋转不变性属性设计点云卷积,但是这种方法通常不像仅卷积不像翻译不一样。我们发现,关键原因是与点坐标相比,旋转不变的特征由点云卷积消耗并不那么独特。为了解决这个问题,我们提出了一个新颖的卷积运算符,该操作员通过将全局上下文信息从输入点云整合到卷积来增强特征区别。为此,在每个点邻域中构建了全球加权的本地参考框架,其中局部点集分解为箱子。每个垃圾箱中生成锚点以表示全局形状特征。然后可以执行卷积以将点和锚定功能转换为最终的旋转不变特征。我们对点云分类,部分分割,形状检索和正常估计进行了几项实验,以评估我们的卷积,这些卷积在挑战性的旋转下实现了最先进的精度。

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data, however, could have arbitrary rotations, especially those acquired from 3D scanning. Recent works show that it is possible to design point cloud convolutions with rotation invariance property, but such methods generally do not perform as well as translation-invariant only convolution. We found that a key reason is that compared to point coordinates, rotation-invariant features consumed by point cloud convolution are not as distinctive. To address this problem, we propose a novel convolution operator that enhances feature distinction by integrating global context information from the input point cloud to the convolution. To this end, a globally weighted local reference frame is constructed in each point neighborhood in which the local point set is decomposed into bins. Anchor points are generated in each bin to represent global shape features. A convolution can then be performed to transform the points and anchor features into final rotation-invariant features. We conduct several experiments on point cloud classification, part segmentation, shape retrieval, and normals estimation to evaluate our convolution, which achieves state-of-the-art accuracy under challenging rotations.

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