PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space

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Introduction

This paper builds off of ideas from PointNet (Qi et al., 2017). PointNet is a deep neural network architecture that takes a point cloud as an input and has the ability to perform classification or point semantic segmentation. PointNet differs from other point cloud processing networks by directly taking the unordered points from the point cloud as input, instead of re-representing the point cloud by voxelization or 2D images.


point cloud.png

Review of PointNet

PointNet architecture
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PointNet++

Problem Statement

Method

point net++.png

Sampling Layer

Grouping Layer

grouping.png

PointNet Layer

Robust Feature Learning under Non-Uniform Sampling Density

Experiments

Sources

1. Charles R. Qi, Li Yi, Hao Su, Leonidas J. Guibas. PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space, 2017

2. Charles R. Qi, Hao Su, Kaichun Mo, Leonidas J. Guibas. PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation, 2017