Upsampling Autoencoder for Self-Supervised Point Cloud Learning

원문 초록

In computer-aided design (CAD) community, the point cloud data is pervasively applied in reverse engineering, where the point cloud analysis plays an important role. While a large number of supervised learning methods have been proposed to handle the unordered point clouds and demonstrated their remarkable success, their performance and applicability are limited to the costly data annotation. In this work, we propose a novel self-supervised pretraining model for point cloud learning without human annotations, which relies solely on upsampling operation to perform feature learning of point cloud in an effective manner. The key premise of our approach is that upsampling operation encourages the network to capture both high-level semantic information and low-level geometric information of the point cloud, thus the downstream tasks such as classification and segmentation will benefit from the pre-trained model. Specifically, our method first conducts the random subsampling from the input point cloud at a low proportion e.g., 12.5%. Then, we feed them into an encoder-decoder architecture, where an encoder is devised to operate only on the subsampled points, along with a upsampling decoder is adopted to reconstruct the original point cloud based on the learned features. Finally, we design a novel joint loss function which enforces the upsampled points to be similar with the original point cloud and uniformly distributed on the underlying shape surface. By adopting the pre-trained encoder weights as initialisation of models for downstream tasks, we find that our UAE outperforms previous state-of-the-art methods in shape classification, part segmentation and point cloud upsampling tasks. Code will be made publicly available upon acceptance.