“…In recent years, deep learning has been widely used in many fields of point clouds learning, including classification [15], [16], [17], [18], [19], segmentation [20], [21], [22], registration [23], [24], [25], denoising [26], [27], generation [28], completion [29], [30], [31], visualization [32], [33], etc. As the pioneer in applying neural networks to point cloud analysis, PointNet [15] and PointNet++ [16] propose to use shared MLP and symmetric functions as feature extractor.…”