Point Transformer
Point TransformerHengshuang Zhao1,2Li Jiang3Jiaya Jia3Philip Torr1Vladlen Koltun41University of Oxford2The University of Hong Kong3The Chinese University of Hong Kong4Intel LabsAbstractSelf-attention networks have revolutionized natural lan-guage processing and are making impressive strides in im-age analysis tasks such as image classification and objectdetection. Inspired by this success, we investigate the ap-plication of self-attention networks to 3D Point cloud pro-cessing. We design self-attention layers for Point clouds anduse these to construct self-attention networks for tasks suchas semantic scene segmentation, object part segmentation,and object classification. Our Point Transformer design im-proves upon prior work across domains and tasks.
PointNet [25] utilizes permutation-invariant operators such as pointwise MLPs and pooling layers to aggregate features across a set. PointNet++ [27] applies these ideas within a hierarchical spatial structure to increase sensitivity to local geometric layout. Such models can benefit from efficient sampling of the point set, and a variety of ...
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