ZZ-Net: A Universal Rotation Equivariant Architecture for 2D Point Clouds

• In this paper, we are concerned with rotation equivariance on 2D point cloud data. We describe a particular set of functions able to approximate any continuous rotation equivariant and permutation invariant function. Based on this result, we propose a novel neural network architecture for processing 2D point clouds and we prove its universality for approximating functions exhibiting these symmetries. We also show how to extend the architecture to accept a set of 2D-2D correspondences as indata, while maintaining similar equivariance properties. Experiments are presented on the estimation of essential matrices in stereo vision.

Ämnesord

NATURVETENSKAP  -- Matematik -- Beräkningsmatematik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Computational Mathematics (hsv//eng)

NATURVETENSKAP  -- Matematik -- Sannolikhetsteori och statistik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Probability Theory and Statistics (hsv//eng)

NATURVETENSKAP  -- Matematik -- Matematisk analys (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Mathematical Analysis (hsv//eng)

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

Nyckelord

Machine learning

Deep learning architectures and techniques

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