Mining Point Cloud Local Structures by Kernel Correlation and Graph Pooling

Yiru Shen, Chen Feng, Yaoqing Yang, Dong Tian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets. However, it does not take full advantage of a point's local neighborhood that contains fine-grained structural information which turns out to be helpful towards better semantic learning. In this regard, we present two new operations to improve PointNet with a more efficient exploitation of local structures. The first one focuses on local 3D geometric structures. In analogy to a convolution kernel for images, we define a point-set kernel as a set of learnable 3D points that jointly respond to a set of neighboring data points according to their geometric affinities measured by kernel correlation, adapted from a similar technique for point cloud registration. The second one exploits local high-dimensional feature structures by recursive feature aggregation on a nearest-neighbor-graph computed from 3D positions. Experiments show that our network can efficiently capture local information and robustly achieve better performances on major datasets. Our code is available at http://www.merl.com/research/license#KCNet.

Original languageEnglish (US)
Title of host publicationProceedings - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018
PublisherIEEE Computer Society
Pages4548-4557
Number of pages10
ISBN (Electronic)9781538664209
DOIs
StatePublished - Dec 14 2018
Event31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018 - Salt Lake City, United States
Duration: Jun 18 2018Jun 22 2018

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Conference

Conference31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018
CountryUnited States
CitySalt Lake City
Period6/18/186/22/18

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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  • Cite this

    Shen, Y., Feng, C., Yang, Y., & Tian, D. (2018). Mining Point Cloud Local Structures by Kernel Correlation and Graph Pooling. In Proceedings - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018 (pp. 4548-4557). [8578576] (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition). IEEE Computer Society. https://doi.org/10.1109/CVPR.2018.00478