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3D ShapeNets: A Deep Representation for Volumetric Shapes
3D shape is a crucial but heavily underutilized cue in today's computer
vision systems, mostly due to the lack of a good generic shape representation.
With the recent availability of inexpensive 2.5D depth sensors (e.g. Microsoft
Kinect), it is becoming increasingly important to have a powerful 3D shape
representation in the loop. Apart from category recognition, recovering full 3D
shapes from view-based 2.5D depth maps is also a critical part of visual
understanding. To this end, we propose to represent a geometric 3D shape as a
probability distribution of binary variables on a 3D voxel grid, using a
Convolutional Deep Belief Network. Our model, 3D ShapeNets, learns the
distribution of complex 3D shapes across different object categories and
arbitrary poses from raw CAD data, and discovers hierarchical compositional
part representations automatically. It naturally supports joint object
recognition and shape completion from 2.5D depth maps, and it enables active
object recognition through view planning. To train our 3D deep learning model,
we construct ModelNet -- a large-scale 3D CAD model dataset. Extensive
experiments show that our 3D deep representation enables significant
performance improvement over the-state-of-the-arts in a variety of tasks.Comment: to be appeared in CVPR 201
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