SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters

Deep neural networks have enjoyed remarkable success for various vision tasks, however it remains challenging to apply CNNs to domains lacking a regular underlying structures such as 3D point clouds. Towards this we propose a novel convolutional architecture, termed SpiderCNN, to efficiently extract geometric features from point clouds. SpiderCNN is comprised of units called SpiderConv, which extend convolutional operations from regular grids to irregular point set that can be embedded in R^n, by parametrizing a family of convolutional filters. We elaborately design the filter as a product of simple step function that captures local geodesic information and a Taylor polynomial that ensures the expressiveness. SpiderCNN inherits the multi-scale hierarchical architecture from the classical CNNs, which allows it to extract semantic deep features. Experiments on ModelNet40 demonstrate that SpiderCNN achieves the-state-of-the art accuracy 92.4% on standard benchmarks, and shows competitive performance on segmentation task.