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PointNet: Deep Learning on Point Sets for 3D ...

PointNet: Deep Learning on Point Sets for 3D Classification and SegmentationCharles R. Qi*Hao Su*Kaichun MoLeonidas J. GuibasStanford UniversityAbstractPoint cloud is an important type of geometric datastructure. Due to its irregular format, most researcherstransform such data to regular 3D voxel grids or collectionsof images. This, however, renders data unnecessarilyvoluminous and causes issues. In this paper, we design anovel type of neural network that directly consumes pointclouds, which well respects the permutation invariance ofpoints in the input. Our network, named PointNet, pro-vides a unified architecture for applications ranging fromobject classification, part segmentation, to scene semanticparsing. Though simple, PointNet is highly efficient andeffective. Empirically, it shows strong performance onpar or even better than state of the art. Theoretically,we provide analysis towards understanding of what thenetwork has learnt and why the network is robust withrespect to input perturbation and IntroductionIn this paper we explore deep Learning architecturescapable of reasoning about 3D geometric data such aspoint clouds or meshes.

dimensional space there in fact does not exist an ordering that is stable w.r.t. point perturbations in the general sense. This can be easily shown by contradiction. If such an ordering strategy exists, it defines a bijection map between a high-dimensional space and a 1d real line. It is not hard to see, to require an ordering to be stable w.r.t

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