# Learning point embedding for 3D data processing

arXiv: https://arxiv.org/abs/2107.08565 · HTML: https://mlsanity.com/paper/2107.08565/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 23 references that are in the map.
- First posted on arXiv 19 Jul 2021.

## Builds on (most cited first, 16 of 16)

- [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)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [PointConv: Deep Convolutional Networks on 3D Point Clouds](https://mlsanity.com/paper/1811.07246/) (2018)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [Network In Network](https://mlsanity.com/paper/1312.4400/) (2013)
- [Multi-view Convolutional Neural Networks for 3D Shape Recognition](https://mlsanity.com/paper/1505.00880/) (2015)
- [Hypergraph Neural Networks](https://mlsanity.com/paper/1809.09401/) (2018)
- [OctNet: Learning Deep 3D Representations at High Resolutions](https://mlsanity.com/paper/1611.05009/) (2016)
- [Joint 3D Proposal Generation and Object Detection from View Aggregation](https://mlsanity.com/paper/1712.02294/) (2017)
- [FlowNet3D: Learning Scene Flow in 3D Point Clouds](https://mlsanity.com/paper/1806.01411/) (2018)
- [Escape from Cells: Deep Kd-Networks for the Recognition of 3D Point Cloud Models](https://mlsanity.com/paper/1704.01222/) (2017)
- [Local Spectral Graph Convolution for Point Set Feature Learning](https://mlsanity.com/paper/1803.05827/) (2018)
- [RGCNN: Regularized Graph CNN for Point Cloud Segmentation](https://mlsanity.com/paper/1806.02952/) (2018)

## Abstract (arXiv)

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods are essentially spatial relationship processing networks. In this paper, we take a different approach. Our architecture, named PE-Net, learns the representation of point clouds in high-dimensional space, and encodes the unordered input points to feature vectors, which standard 2D CNNs can be applied to. The recommended network can adapt to changes in the number of input points which is the limit of current methods. Experiments show that in the tasks of classification and part segmentation, PE-Net achieves the state-of-the-art performance in multiple challenging datasets, such as ModelNet and ShapeNetPart.