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Graph Attention Convolution for Point Cloud Semantic ...

Graph Attention Convolution for Point Cloud Semantic SegmentationLei Wang1, Yuchun Huang1 , Yaolin Hou1, Shenman Zhang1, Jie Shan2 1 Wuhan University, China2 Purdue University, USA{wlei, hycwhu, houyaolin, Convolution is inherently limited for semanticsegmentation of Point Cloud due to its isotropy about fea-tures. It neglects the structure of an object, results in poorobject delineation and small spurious regions in the seg-mentation result. This paper proposes a novel Graph at-tention Convolution (GAC), whose kernels can be dynami-cally carved into specific shapes to adapt to the structureof an object. Specifically, by assigning proper attentionalweights to different neighboring points, GAC is designed toselectively focus on the most relevant part of them accord-ing to their dynamically learned features. The shape of theconvolution kernel is then determined by the learned dis-tribution of the attentional weights. Though simple, GACcan capture the structured features of Point clouds for fine-grained segmentation and avoid feature contamination be-tween objects.}

Graph Attention Convolution for Point Cloud Semantic Segmentation Lei Wang1, Yuchun Huang1 ... cloud as a graph according to their spatial neighbors, and then generalizes the standard CNN to adapt to the graph-structural data. Shen et al. [40] defined a point-set kernel as

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