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pointwise 卷积神经网路 CVPR2018 Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research inter- ests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored. In this paper, we present a convolutional neural network for semantic segmentation and object recognition with 3D point clouds. At the core of our network is point- wise convolution, a new convolution operator that can be applied at each point of a point cloud. Our fully convolu- tional network design, while being surprisingly simple to implement, can yield competitive accuracy in both semantic segmentation and object recognition task.