Multi-scale Graph Convolutional Neural Network for Object Recognition from Point Cloud Data

How to make robots understand the point cloud data which is collected from the 3D sensor and complete the recognition has become a hot research direction in recent years. In this paper, we propose a new approach to improve the critical robotic capability, semantic understanding of the environment (i.e., 3D object recognition). The convolutional neural network (CNN) method has a very good recognition result in the 2D image domain, but it has certain difficulty in applying irregular and unordered 3D point clouds data. The network for point cloud data generally uses the convolution to realize the extraction of point cloud features by finding the neighborhood features on the point set. Due to the different neighborhood scales caused by the irregularity of 3D point cloud data, we propose a CNN structure that combines multi-scale features. By finding multiple neighborhoods of the point set and establishing local graph extraction features, the stable expression of the local neighborhood is obtained. At the same time, the key point calibration method is added, so that the network can dynamically focus on key point features to improve the recognition result. In a series of analytical experiments, we demonstrate competing results that demonstrate the effectiveness of the network structure.