Point-Voxel Adaptive Feature Abstraction for Robust Point Cloud Classification

Abstract

Great progress has been made in point cloud classification with learning-based methods. However, complex scene and sensor inaccuracy in real-world application make point cloud data suffer from corruptions, such as occlusion, noise and outliers. In this work, we propose Point-Voxel based Adaptive (PV-Ada) feature abstraction for robust point cloud classification under various corruptions. Specifically, the proposed framework iteratively voxelize the point cloud and extract pointvoxel feature with shared local encoding and Transformer. Then, adaptive max-pooling is proposed to robustly aggregate the point cloud feature for classification. Experiments on ModelNet-C dataset demonstrate that PV-Ada outperforms the state-of-the-art methods. In particular, we rank the 2 nd place in ModelNet-C classification track of PointCloud-C Challenge 2022, with Overall Accuracy (OA) being 0.865. Code will be available at https://github.com/zhulf0804/PV-Ada.