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Rotation Invariant Convolutions For 3d Point Clouds Deep Learning, Zhiyuan Zhang, Binh-Son Hua, David W. Rosen, Sai-Kit Yeung

Research Collection School Of Computing and Information Systems

Recent progresses in 3D deep learning has shown that it is possible to design special convolution operators to consume point cloud data. However, a typical drawback is that rotation invariance is often not guaranteed, resulting in networks that generalizes poorly to arbitrary rotations. In this paper, we introduce a novel convolution operator for point clouds that achieves rotation invariance. Our core idea is to use low-level rotation invariant geometric features such as distances and angles to design a convolution operator for point cloud learning. The well-known point ordering problem is also addressed by a binning approach seamlessly built into the …