# Rotation Transformation Network: Learning View-Invariant Point Cloud for Classification and Segmentation

arXiv: https://arxiv.org/abs/2107.03105 · HTML: https://mlsanity.com/paper/2107.03105/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 18 references that are in the map.
- First posted on arXiv 7 Jul 2021.

## Builds on (most cited first, 15 of 15)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Spatial Transformer Networks](https://mlsanity.com/paper/1506.02025/) (2015)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters](https://mlsanity.com/paper/1803.11527/) (2018)
- [Grid-GCN for Fast and Scalable Point Cloud Learning](https://mlsanity.com/paper/1912.02984/) (2019)
- [Rotation Invariant Convolutions for 3D Point Clouds Deep Learning](https://mlsanity.com/paper/1908.06297/) (2019)
- [Effective Rotation-invariant Point CNN with Spherical Harmonics kernels](https://mlsanity.com/paper/1906.11555/) (2019)
- [3D-Rotation-Equivariant Quaternion Neural Networks](https://mlsanity.com/paper/1911.09040/) (2019)
- [SRINet: Learning Strictly Rotation-Invariant Representations for Point Cloud Classification and Segmentation](https://mlsanity.com/paper/1911.02163/) (2019)
- [Pointwise Rotation-Invariant Network with Adaptive Sampling and 3D Spherical Voxel Convolution](https://mlsanity.com/paper/1811.09361/) (2018)
- [Discrete Rotation Equivariance for Point Cloud Recognition](https://mlsanity.com/paper/1904.00319/) (2019)

## Built on by (most cited first, 2 of 2)

- [Superpoint-guided Semi-supervised Semantic Segmentation of 3D Point Clouds](https://mlsanity.com/paper/2107.03601/) (2021)
- [PointResNet: Residual Network for 3D Point Cloud Segmentation and Classification](https://mlsanity.com/paper/2211.11040/) (2022)

## Abstract (arXiv)

Many recent works show that a spatial manipulation module could boost the performances of deep neural networks (DNNs) for 3D point cloud analysis. In this paper, we aim to provide an insight into spatial manipulation modules. Firstly, we find that the smaller the rotational degree of freedom (RDF) of objects is, the more easily these objects are handled by these DNNs. Then, we investigate the effect of the popular T-Net module and find that it could not reduce the RDF of objects. Motivated by the above two issues, we propose a rotation transformation network for point cloud analysis, called RTN, which could reduce the RDF of input 3D objects to 0. The RTN could be seamlessly inserted into many existing DNNs for point cloud analysis. Extensive experimental results on 3D point cloud classification and segmentation tasks demonstrate that the proposed RTN could improve the performances of several state-of-the-art methods significantly.