Example of the 9-dimvector version of Semantic Segmentation about pointnet

[charlesq34]

Hi, myhussien

The first layer will have 9-channel input for the MLP. Using a [1,9] filter will do that.
You can add transformer networks (input is only XYZ channel) as well but the performance is similar without.

As to the 9 channels, they include:
Original XYZ: we kept Z as it is and shift XY with regard to the center of the block s.t. the center will have X=0, Y=0
Normalized X'Y'Z': it's normalized with regard to the entire room so that the corners will be (0,0,0), (0,1,0) etc.
RGB values: it's converted to 0~1 as float

The weights in transformation network are defined that way because we want to initialize the transformation to identity matrix. You can also use a fully connected layer but you need a special bias initializer.

Hope it helps!
Cheers,
Charles

[charlesq34]

hi myhussien,

Either way is fine I think. For (B,N,9,1) you will use (1,9) kernel. For (B,N,1,9) you can use (1,1) kernel.
Or you can actually use conv1d as well or fully_connected. The performance difference is small.

Best,
Charles

[myhussien]

Thanks, that was helpful!

I just can't get my head around the fact that you are applying a filter over completely unrelated values i.e [X,Y,Z,R,G,B,x,y,z], and then collapsing those to a single value. It is very surprising to me that it is actually working. Are you planning to upload an example showing this semantic segmentation part with RGB? I look forward to see it in action.

Good Work!

[myhussien]

Hi Charles,

I hope you have time to answer my previous question. On the other hand, why do you define the weights and the biases in the transformation network explicitly instead of having a fully connected layer with 9 outputs and initialize the weights and the biases internally?

Best,

[myhussien]

Can you elaborate more on what do you mean by 9-channels? did you mean 9-columns and the data shape would be [B x N x 9 x 1]? or is it [B x N x 1 x 9], which won't work with [1,9] filter?

[charlesq34]

By feeding all channels, we are leaving the heavy-lifting jobs to the neural network :)
It's possible to add more structure or regularization into the model though..

I will try to organize and clean some code on semantic segmentation in scenes. Probably not recently but it's on my todo list.

I'm closing the issue now. Let me know if you have more questions.