PointSpherical: Deep Shape Context for Point Cloud Learning in Spherical Coordinates

Abstract

We propose Spherical Hierarchical modeling of 3D point cloud. Inspired by Shape Context, we design a receptive field on each 3D point by placing a spherical coordinate on it. We sample points using the furthest point method and creating overlapping balls of points. We divide the space into radial, polar angular, and azimuthal angular bins on which we form a Spherical Hierarchy for each ball. We apply 1x1 CNN convolution on points to start the initial feature extraction. Repeated 3D CNN and max-pooling over the Spherical bins propagate contextual information until all the information is condensed in the center bin. Extensive experiments on five datasets strongly evidence that our method outperforms current models on various Point Cloud Learning tasks, including 2D/3D shape classification, 3D part segmentation, and 3D semantic segmentation.