Robust Point Cloud Processing Through Positional Embedding

Jianqiao Zheng, Xueqian Li, Sameera Ramasinghe, Simon Lucey

Abstract: End-to-end trained per-point embeddings are an essential ingredient of any state-of-the-art 3D point cloud processing such as detection or alignment. Methods like PointNet [17], or the more recent point cloud transformer [7]—and its variants—all employ learned per-point embeddings. Despite impressive performance, such approaches are sensitive to out-of-distribution (OOD) noise and outliers. In this paper, we explore the role of an analytical per-point embedding based on the criterion of bandwidth. The concept of bandwidth enables us to draw connections with an alternate per-point embedding—positional embedding, particularly random Fourier features. We present compelling robust results across downstream tasks such as point cloud classification and registration with several categories of OOD noise.