PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation
- 3. Introduction
- 4. Introduction
- 6. Introduction
- 8. Introduction
- 9. Deep learning on Point sets Deep learning on Point Sets
- 10. Deep learning on Point Sets – Properties of pointsets Our input is a subset of points from an Euclidean space 3 main properties • Unordered → Permutation invariance • Invariance under transformations • Interaction among points 2D array representation N D
- 11. Deep learning on Point Sets – PointNet Architecture
- 12. 1. the max pooling layer as a symmetric function to aggregate information from all the points 2. a local and global information combination structure 3. two joint alignment networks that align both input points and point features. 3 key modules Deep learning on Point Sets – PointNet Architecture
- 13. 1. the max pooling layer as a symmetric function to aggregate information from all the points Unordered input RNN training Symmetric function Deep learning on Point Sets – PointNet Architecture Permutation invariance
- 14. 1. the max pooling layer as a symmetric function to aggregate information from all the points Deep learning on Point Sets – PointNet Architecture
- 15. Deep learning on Point Sets – PointNet Architecture 1. the max pooling layer as a symmetric function to aggregate information from all the points – Q: What symmetric functions can be constructed by PointNet? 시멘코 정리?
- 16. Deep learning on Point Sets – PointNet Architecture
- 17. 2. a local and global information combination structure Deep learning on Point Sets – PointNet Architecture
- 18. 3. two joint alignment networks that align both input points and point features. Deep learning on Point Sets – PointNet Architecture
- 19. 3. two joint alignment networks that align both input points and point features. Deep learning on Point Sets – PointNet Architecture
- 20. 3. two joint alignment networks that align both input points and point features. Deep learning on Point Sets – PointNet Architecture STN
- 21. Result Deep learning on Point Sets
- 22. Deep learning on Point Sets
- 23. Deep learning on Point Sets Robustness to data corruption
- 24. Deep learning on Point Sets Visualizing PointNet