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Register a new userDual-Neighborhood Deep Fusion Network for Point Cloud Analysis
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Guoquan Xu
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Convolutional neural network has made remarkable achievements in classification of idealized point cloud, however, non-idealized point cloud classification is still a challenging task. In this paper, DNDFN, namely, Dual-Neighborhood Deep Fusion Network, is proposed to deal with this problem. DNDFN has two key points. One is combination of local neighborhood and global neigh-borhood. nearest neighbor (kNN) or ball query can capture the local neighborhood but ignores long-distance dependencies. A trainable neighborhood learning meth-od called TN-Learning is proposed, which can capture the global neighborhood. TN-Learning is combined with them to obtain richer neighborhood information. The other is information transfer convolution (IT-Conv) which can learn the structural information between two points and transfer features through it. Extensive exper-iments on idealized and non-idealized benchmarks across four tasks verify DNDFN achieves the state of the arts.
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Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it difficult to find local neighbors efficiently. The voxel-based view is regular, but sparse, and computation grows cubically when voxel resolution increases. The range-based view is regular and generally dense, however spherical projection makes physical dimensions distorted. Both voxel- and range-based views suffer from quantization loss, especially for voxels when facing large-scale scenes. In order to utilize different views advantages and alleviate their own shortcomings in fine-grained segmentation task, we propose a novel range-point-voxel fusion network, namely RPVNet. In this network, we devise a deep fusion framework with multiple and mutual information interactions among these three views and propose a gated fusion module (termed as GFM), which can adaptively merge the three features based on concurrent inputs. Moreover, the proposed RPV interaction mechanism is highly efficient, and we summarize it into a more general formulation. By leveraging this efficient interaction and relatively lower voxel resolution, our method is also proved to be more efficient. Finally, we evaluated the proposed model on two large-scale datasets, i.e., SemanticKITTI and nuScenes, and it shows state-of-the-art performance on both of them. Note that, our method currently ranks 1st on SemanticKITTI leaderboard without any extra tricks.
Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost. Furthermore, it remains relatively less explored how rotation-equivariant features can be leveraged to tackle 3D shape alignment tasks. While many past approaches have been based on either non-equivariant or invariant descriptors to align 3D shapes, we argue that such tasks may benefit greatly from an equivariant framework. In this paper, we propose an effective and practical SE(3) (3D translation and rotation) equivariant network for point cloud analysis that addresses both problems. First, we present SE(3) separable point convolution, a novel framework that breaks down the 6D convolution into two separable convolutional operators alternatively performed in the 3D Euclidean and SO(3) spaces. This significantly reduces the computational cost without compromising the performance. Second, we introduce an attention layer to effectively harness the expressiveness of the equivariant features. While jointly trained with the network, the attention layer implicitly derives the intrinsic local frame in the feature space and generates attention vectors that can be integrated into different alignment tasks. We evaluate our approach through extensive studies and visual interpretations. The empirical results demonstrate that our proposed model outperforms strong baselines in a variety of benchmarks
We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to represent point cloud data structure while keeping its own internal physical property such as permutation and scale-invariant is a fundamental problem. Therefore, we propose our work, DRINet, which serves as the basic network structure for dual-representation learning with great flexibility at feature transferring and less computation cost, especially for large-scale point clouds. DRINet mainly consists of two modules called Sparse Point-Voxel Feature Extraction and Sparse Voxel-Point Feature Extraction. By utilizing these two modules iteratively, features can be propagated between two different representations. We further propose a novel multi-scale pooling layer for pointwise locality learning to improve context information propagation. Our network achieves state-of-the-art results for point cloud classification and segmentation tasks on several datasets while maintaining high runtime efficiency. For large-scale outdoor scenarios, our method outperforms state-of-the-art methods with a real-time inference speed of 62ms per frame.
Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular configuration for point cloud analysis. The key to RS-CNN is learning from relation, i.e., the geometric topology constraint among points. Specifically, the convolutional weight for local point set is forced to learn a high-level relation expression from predefined geometric priors, between a sampled point from this point set and the others. In this way, an inductive local representation with explicit reasoning about the spatial layout of points can be obtained, which leads to much shape awareness and robustness. With this convolution as a basic operator, RS-CNN, a hierarchical architecture can be developed to achieve contextual shape-aware learning for point cloud analysis. Extensive experiments on challenging benchmarks across three tasks verify RS-CNN achieves the state of the arts.
Learning 3D representations by fusing point cloud and multi-view data has been proven to be fairly effective. While prior works typically focus on exploiting global features of the two modalities, in this paper we argue that more discriminative features can be derived by modeling where to fuse. To investigate this, we propose a novel Correspondence-Aware Point-view Fusion Net (CAPNet). The core element of CAP-Net is a module named Correspondence-Aware Fusion (CAF) which integrates the local features of the two modalities based on their correspondence scores. We further propose to filter out correspondence scores with low values to obtain salient local correspondences, which reduces redundancy for the fusion process. In our CAP-Net, we utilize the CAF modules to fuse the multi-scale features of the two modalities both bidirectionally and hierarchically in order to obtain more informative features. Comprehensive evaluations on popular 3D shape benchmarks covering 3D object classification and retrieval show the superiority of the proposed framework.
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