Points2Vec：点群からの教師なし物体レベル特徴学習
Points2Vec: Unsupervised Object-level Feature Learning from Point Clouds
3Dスキャン空間内で物体の周囲に意味的に関連する物体が配置される構造を利用し、点群を低次元ベクトルに教師なしで埋め込む手法を提案。文脈情報の活用でクラスタリングによる意味クラス識別性能が向上することを示した。
著者: Joël Bachmann, Kenneth Blomqvist, Julian Förster, Roland Siegwart
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the context of 3D vision. This, despite the fact that the physical 3D spaces have a similar semantic structure to bodies of text: words are surrounded by words that are semantically related, just like objects are surrounded by other objects that are similar in concept and usage. In this work, we exploit this structure in learning semantically meaningful low dimensional vector representations of objects. We learn these vector representations by mining a dataset of scanned 3D spaces using an unsupervised algorithm. We represent objects as point clouds, a flexible and general representation for 3D data, which we encode into a vector representation. We show that using our method to include context increases the ability of a clustering algorithm to distinguish different semantic classes from each other. Furthermore, we show that our algorithm produces continuous and meaningful object embeddings through interpolation experiments.
