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PAConv: Position Adaptive Convolution With Dynamic Kernel ...

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PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling onPoint CloudsMutian Xu1*Runyu Ding1*Hengshuang Zhao2Xiaojuan Qi1 1The University of Hong Kong2University of introducePositionAdaptive Convolution (PAConv),a generic Convolution operation for 3D point cloud process-ing. The key of PAConv is to construct the Convolution ker-nel by dynamically assembling basic weight matrices storedin Weight Bank, where the coefficients of these weight matri-ces are self-adaptively learned from point positions throughScoreNet. In this way, the Kernel is built in a data-drivenmanner, endowing PAConv with more flexibility than 2Dconvolutions to better handle the irregular and unorderedpoint cloud data. Besides, the complexity of the learningprocess is reduced by combining weight matrices instead ofbrutally predicting kernels from point , different from the existing point convolu-tion operators whose network architectures are often heav-ily engineered, we integrate our PAConv into classicalMLP-based point cloud pipelineswithoutchanging net-work configurations.

PAConv: Position Adaptive Convolution with Dynamic Kernel Assembling on Point Clouds Mutian Xu1* Runyu Ding1* Hengshuang Zhao2 Xiaojuan Qi1† 1The University of Hong Kong 2University of Oxford mino1018@outlook.com, {ryding, xjqi}@eee.hku.hk, hengshuang.zhao@eng.ox.ac.uk

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