TetraSphere: A Neural Descriptor for O(3)-Invariant Point Cloud Analysis
Core Concepts
TetraSphere achieves state-of-the-art performance in classifying 3D objects with rotation invariance.
Abstract
TetraSphere introduces a novel approach using steerable 3D spherical neurons and vector neurons to create an O(3)-invariant descriptor for point cloud analysis. The method embeds 3D spherical neurons into 4D vector neurons, enabling end-to-end training. By performing TetraTransform, the model extracts deeper O(3)-equivariant features using vector neurons. This integration into the VN-DGCNN framework sets a new performance standard in classifying real-world object scans and synthetic data. The practical value of steerable 3D spherical neurons is demonstrated through improved learning in 3D Euclidean space.
TetraSphere
Stats
TetraSphere achieves less than 0.0002% increase in parameters compared to baseline methods.
TetraSphere outperforms all equivariant methods on real-world object scans and synthetic data.
The model demonstrates the effectiveness of steerable 3D spherical neurons for learning in 3D space.
Quotes
"TetraSphere sets a new state-of-the-art performance classifying randomly rotated real-world object scans."
"The results reveal the practical value of steerable 3D spherical neurons for learning in 3D Euclidean space."