Deep Learning on 3D Data

Abstract

Emerging 3D related applications such as autonomous vehicles, AIassisted design, and augmented reality have highlighted the demands formore robust and powerful 3D analyzing algorithms. Inspired by the success of deep learning on understanding images, audio, and texts, and backed by growing amounts of available 3D data and annotated 3D datasets, a new field that studies deep learning on 3D data has arisen recently. However, unlike images or audio that have a dominant representation as arrays, 3D has many popular representations. Among them, the two most common representations are point clouds (from raw sensor input) and meshes (widely used in shape modeling) that are both not defined on a regular grid. Due to their irregular format, current convolutional deep neural networks cannot be directly used. To analyze those 3D data, two major branches of methods exist. One family of methods first converts such irregular data to regular structures such as 3D volumetric grids (through quantization) or multi-view images (through rendering or projection) and then applies existing convolutional architectures on them. On the other hand, a new family of methods study how to design deep neural networks that directly consume irregular data such as point clouds (sets) and meshes (graphs). Those architectures are designed to respect the special properties of the input 3D representations such as the permutation invariance of the points in a set, or the intrinsic surface structure in a mesh. In this chapter we present representative deep learning models from both of those families, to analyze 3D data in representations of regular structures (multi-view images and volumetric grids) and irregular structures (point clouds and meshes). While we mainly focus on introducing the backbone networks that are general for deep 3D representation learning, we also show their successful applications ranging from semantic object classification, object part segmentation, scene parsing, to finding shape correspondences. At the end of the chapter we providemore pointers for further reading and discuss future directions.