3D point-cloud-based perception is a challenging but crucial computer vision task. A point-cloud consists of a sparse, unstructured, and unordered set of points. To understand a point-cloud, previous point-based methods, such as PointNet++, extract visual features through hierarchically aggregation of local features. However, such methods have several critical limitations: 1) Such methods require several sampling and grouping operations, which slow down the inference speed. 2) Such methods spend an equal amount of computation on each points in a point-cloud, though many of points are redundant. 3) Such methods aggregate local features together through downsampling, which leads to information loss and hurts the perception performance. To overcome these challenges, we propose a novel, simple, and elegant deep learning model called YOGO (You Only Group Once). Compared with previous methods, YOGO only needs to sample and group a point-cloud once, so it is very efficient. Instead of operating on points, YOGO operates on a small number of tokens, each of which summarizes the point features in a sub-region. This allows us to avoid computing on the redundant points and thus boosts efficiency.Moreover, YOGO preserves point-wise features by projecting token features to point features although the computation is performed on tokens. This avoids information loss and can improve point-wise perception performance. We conduct thorough experiments to demonstrate that YOGO achieves at least 3.0x speedup over point-based baselines while delivering competitive classification and segmentation performance on the ModelNet, ShapeNetParts and S3DIS datasets.
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