Is PointNet Rotation Invariant?

charlesq34 / pointnet

PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation

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Is PointNet Rotation Invariant? #246

Open dhirajsuvarna opened 4 years ago

dhirajsuvarna commented 4 years ago

Hi @charlesq34,

I have gone through the paper and it is mentioned that the Spatial Transformer Network is introduced to make the point cloud invariant to Geometric Transformations. I would like to know if this makes the architecture "Rotation Invariant".

Recently I read another paper Rotation Invariant Point Cloud Analysis which claims that PointNet is not Rotation Invariant.

Kindly request you to clarify.

merazlab commented 4 years ago

A point cloud is a rotation-invariant, but not all degrees of rotation invariant. it is limited.