Transcription of PointNet: Deep Learning on Point Sets for 3D ...
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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.
Classification Part Segmentation PointNet Semantic Segmentation Input Point Cloud (point set representation) Figure 1. Applications of PointNet. We propose a novel deep net architecture that consumes raw point cloud (set of points) without voxelization or rendering. It is a unified architecture that learns
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