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ABEJA Innovation Meetup NIPS PointNet++

ABEJA Innovation Meetup NIPS PointNet++

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  1. PointNet++ͷ֓ཁ ▸ ஶऀ: Charles R. Qi, Li Yi, Hao Su,

    Leonidas J. Guibas
 ɹɹ ˏελϯϑΥʔυ ▸ ֓ཁ ▸ ఺܈Λͦͷ··ೖྗ͠ɺͦͷΫϥε෼ྨɺ
 SegmentationΛߦ͏PointNetͷվྑใࠂ ▸ PointNetͷऑ఺Ͱ͋ͬͨ఺܈ີ౓ґଘΛࠀ෰ɺ
 ͓Αͼ֊૚తͳֶशΛͰ͖ΔΑ͏ʹ
 ʮSampling Layerʯͱ ʮGrouped LayerʯΛఏҊ 2
  2. ֊૚తͳֶश ▸ Sampling layer ▸ Farthest Point Sampling (FPS) 14

    https://www.groundai.com/project/parametric-manifold-learning-via-sparse-multidimensional-scaling/
  3. ▸ Grouping layer ▸ radius based ball query ֊૚తͳֶश 15

    PointNet layer Convolution layer Input ΍Δԋࢉ ԋࢉͰݟΔ ൣғ Radius ball query ɹ఺܈ɹ PointNetʢॱ൪ීวʣ ߦྻʢݻఆͷϐΫηϧʣ ৞ΈࠐΈʢॱ൪ґଘʣ ɹີͳߦྻɹ
  4. ֊૚తͳֶश ▸ PointNet layer 17 x1,y1,z1,ΫΤϦ1,ಛ௃1 x2,y2,z2,ΫΤϦ2,ಛ௃2 x3,y3,z3,ΫΤϦ3,ಛ௃3 xN1,yN1,zN1,ΫΤϦN1ಛ௃N1 MLP

    MLP MLP MLP x1,y1,z1,ಛ௃1 x2,y2,z2,ಛ௃2 x3,y3,z3,ಛ௃3 xN1,yN1,zN1,ಛ௃N1 ॏΈShare
  5. ·ͱΊ ▸ PointNetΛ֦ுͨ͠ख๏PointNet++Λൃද ▸ CVPR2017=>NIPS2017൒೥ʹ̍ຊ௨͍ͯ͠Δɻɻɻ ▸ Sampling layerɺGrouped layerΛऔΓೖΕ֊૚తͳֶश ▸

    MRGɺMSGΛఏҊ͠ɺ఺܈ີ౓ʹґଘ͠ͳֶ͍श ▸ ̏࣍ݩ఺܈ͷσʔληοτʹରͯ͠ɺSoTAୡ੒ ▸ ݱ஍ʹߦͬͨײ૝ ▸ ஶऀͱ࿩͢͜ͱͰࡉ͔ͳ৘ใΛर͑Δ 28