SO(3)-Equivariant Learning on CAD Boundary Representations

원문 초록

Learning on boundary representations (B-reps) requires robustness to the pose of a part, since CAD models are not stored in a canonical orientation. Existing B-rep networks either operate on world-frame coordinates and normals, and thus degrade under rotation, or encode each face in a local reference frame. Local frames yield invariance, but reduce inter-face messages to scalars and discard the relative orientation of adjacent faces. We propose SO3brep, an SO(3)-equivariant graph neural network on the B-rep face-adjacency graph. Node features are computed in local frames and mapped into a shared frame by Wigner D-matrices. Clebsch-Gordan tensor products couple these features with the directions between adjacent faces, so that relative orientation is preserved throughout message passing and the output remains SE(3)-invariant. Across three face-segmentation and two classification benchmarks with randomly rotated test parts, SO3brep achieves the highest accuracy among the compared B-rep networks and equivariant point cloud networks, with the fewest parameters. Its advantage is largest with few labeled parts, a setting typical of industrial CAD. Code is available at https://github.com/UGent-CVAMO/so3brep.