Deep Plug-and-Play Non-Iterative Cluster for 3D Global Feature Extraction

Abstract

Efficient and accurate point cloud feature extraction is crucial for critical tasks such as 3D recognition and semantic segmentation. However, existing global feature extraction methods for 3D data often require designing different models for different input types (point clouds, voxels, and maps). This paper proposes an efficient plug-and-play non-iterative clustering method (NICM) to establish a unified point cloud global feature extraction paradigm suitable for any input type to solve the above problems. The core idea of the NICM is to construct the connection between a single point and other global points based only on the cosine similarity between center points to achieve global feature extraction, which has linear complexity characteristics and can be combined with any existing feature extraction model. Additionally, to better integrate the features extracted by NICM and the original model, this paper designs an adaptive feature fusion module is designed based on the gate unit, which retains similar features and effectively fuses dissimilar features based on their importance to downstream tasks. We have applied our method to downstream tasks such as point cloud recognition, part segmentation and scene segmentation. Sufficient experiments have proven that our method can provide comprehensive and robust features for the original model, and effectively improve the performance of downstream tasks.