Link
Embed
Share
Beginning
This slide
Copy link URL
Copy link URL
Copy iframe embed code
Copy iframe embed code
Copy javascript embed code
Copy javascript embed code
Share
Tweet
Share
Tweet
Slide 1
Slide 1 text
PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space NIPSಡΈձˏABEJA 1
Slide 2
Slide 2 text
PointNet++ͷ֓ཁ ▸ ஶऀ: Charles R. Qi, Li Yi, Hao Su, Leonidas J. Guibas ɹɹ ˏελϯϑΥʔυ ▸ ֓ཁ ▸ ܈Λͦͷ··ೖྗ͠ɺͦͷΫϥεྨɺ SegmentationΛߦ͏PointNetͷվྑใࠂ ▸ PointNetͷऑͰ͋ͬͨ܈ີґଘΛࠀɺ ͓Αͼ֊తͳֶशΛͰ͖ΔΑ͏ʹ ʮSampling Layerʯͱ ʮGrouped LayerʯΛఏҊ 2
Slide 3
Slide 3 text
എܠ ▸ ̏࣍ݩͷधཁ 3 ࣗಈӡస AR ઃܭ
Slide 4
Slide 4 text
ͷྲྀΕ ▸ എܠ ▸ PointNetʹ͍ͭͯ ▸ ख๏ ▸ ࣮ݧ ▸ ·ͱΊ 4
Slide 5
Slide 5 text
എܠ ▸ ̏࣍ݩͷσʔλ 5 ɹɹ܈ɹɹ ɹɹϝογϡɹɹ Voxel Өɹ RGB-D
Slide 6
Slide 6 text
എܠ ▸ طଘͷख๏ ▸ ܈Λผͷදݱʹม͍ͯͨ͠ 6 Unstructured, Unordered ͳ܈Λͦͷ··ೖྗ Ͱ͏·͍͘͘Α͏ͳख๏ ==> PointNetΛఏҊ@CVPR2017
Slide 7
Slide 7 text
PointNetͷ͓͞Β͍ ▸ ղ͘λεΫ 7 Classification Segmentation Scene Parsing ೖྗ
Slide 8
Slide 8 text
PointNetͷ͓͞Β͍ ▸ ઃܭ 8
Slide 9
Slide 9 text
PointNetͷ͓͞Β͍ ▸ ՝ 9 PointNet֤ʹ͓͍ͯɺlocalͷใ͕ফ͑Δ ֊తಛֶशͰ͖ͳ͍ ෳ֊ͷநԽͰ͖ͳ͍ GlobalͷಛֶशͷΈ ͋Δ͘͠શͯͷ
Slide 10
Slide 10 text
PointNetͷ͓͞Β͍ ▸ localͷใ͕ফ͑Δͱ 10 globalͷใɺઈର࠲ඪʹґଘͯ͠͠·͏ͷͰɺ segmentationͰະͷͷʹରԠͰ͖ͳ͍
Slide 11
Slide 11 text
PointNet++Ͱ ▸ ֊తֶश ▸ localͳใΛ͢ 11 ▸ ܈ີʹϩόετʹ
Slide 12
Slide 12 text
ΞʔΩςΫνϟ 12
Slide 13
Slide 13 text
֊తͳֶश 13
Slide 14
Slide 14 text
֊తͳֶश ▸ Sampling layer ▸ Farthest Point Sampling (FPS) 14 https://www.groundai.com/project/parametric-manifold-learning-via-sparse-multidimensional-scaling/
Slide 15
Slide 15 text
▸ 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
Slide 16
Slide 16 text
֊తͳֶश ▸ PointNet layer 16 N1ݸͷʹର͠ C1ݸͷಛ࡞ ॏΈshare
Slide 17
Slide 17 text
֊తͳֶश ▸ PointNet layer 17 x1,y1,z1,ΫΤϦ1,ಛ1 x2,y2,z2,ΫΤϦ2,ಛ2 x3,y3,z3,ΫΤϦ3,ಛ3 xN1,yN1,zN1,ΫΤϦN1ಛN1 MLP MLP MLP MLP x1,y1,z1,ಛ1 x2,y2,z2,ಛ2 x3,y3,z3,ಛ3 xN1,yN1,zN1,ಛN1 ॏΈShare
Slide 18
Slide 18 text
ີґଘࠀख๏ ▸ ̏࣍ݩͷଌఆͰ܈ີ͕Ұൠతͳ՝ 18 ==> ܈ີʹϩόετʹ͍ͨ͠
Slide 19
Slide 19 text
ີґଘࠀख๏ ▸ SamplingͱGroupingΛෳ༻ҙ 19 MRGͷํ͕࣍ͰपลͱͷಛΛर͑Δ
Slide 20
Slide 20 text
Classification ࣮ݧ 20
Slide 21
Slide 21 text
▸ ModelNet40ʹରͯ͠ Classification ࣮ݧ 21 PointNetʹൺɺPointNet++ྨਫ਼্ CNNϕʔεͷख๏ʹউར
Slide 22
Slide 22 text
ີґଘ࣮ݧ 22 ಛʹ܈͕গͳ͍ͱɺMRG͕༗ޮ
Slide 23
Slide 23 text
Segmentation ࣮ݧ 23 ૠɿɹIDW (ٯڑՃॏ) Unitpointnet: ֤ͰMLP
Slide 24
Slide 24 text
Segmentation ࣮ݧ ▸ ݁Ռ 24 MSGΛೖΕΔ͜ͱͰɺෆۉҰͳ܈Ͱ͏·͍͘͘
Slide 25
Slide 25 text
Segmentation ࣮ݧ ▸ ݁Ռ 25 PointNetΑΓՈ۩ͷsegmentation্͕ख͍͘͘
Slide 26
Slide 26 text
ඇϢʔΫϦου ڑۭؒͰͷ࣮ݧ 26 WKS , HKS, multi-scale Gaussian curvature
Slide 27
Slide 27 text
Feature Visualization ▸ ࠷ॳͷͷॏΈΛՄࢹԽ 27 ฏ໘ɺίʔφʔͱ͔Λֶश
Slide 28
Slide 28 text
·ͱΊ ▸ PointNetΛ֦ுͨ͠ख๏PointNet++Λൃද ▸ CVPR2017=>NIPS2017ʹ̍ຊ௨͍ͯ͠Δɻɻɻ ▸ Sampling layerɺGrouped layerΛऔΓೖΕ֊తͳֶश ▸ MRGɺMSGΛఏҊ͠ɺ܈ີʹґଘ͠ͳֶ͍श ▸ ̏࣍ݩ܈ͷσʔληοτʹରͯ͠ɺSoTAୡ ▸ ݱʹߦͬͨײ ▸ ஶऀͱ͢͜ͱͰࡉ͔ͳใΛर͑Δ 28