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Relation-Shape Convolutional Neural Network for Point ...
equivariant to point sets learning [24, 27, 48, 19]. Some other works [24, 21] develop alignment network for the robustness to rigid transformation in 3D space. However, the alignment learning is a suboptimal solution for this is-sue. Some traditional descriptors like Fast Point Feature Histograms can be invariant to translation and rotation, yet
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