返回总结列表 https://blog.csdn.net/albert199199/article/details/103531486
PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space
Key points:
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local+global
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Skip connection
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Sampling layer: iterative farthest point sampling (FPS)
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Grouping layer: input~~N*(d+C)+N'*d, output~~N'*K*(d+C), where K neighborhood.
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PointNet layer: input~~N'*K*(d+C), output~~N'*(d+C')
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Non-Uniform Sampling Density: Multi-Scale Grouping (MSG)\Multi-resolution Grouping (MRG)
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code