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Unlike 2-dimensional (2D) images, direct 3-dimensional (3D) point cloud processing using deep neural network architectures is challenging, mainly due to the lack of explicit neighbor relationships. Many researchers attempt to remedy this by performing an additional voxelization preprocessing step. However, this adds additional computational overhead and introduces quantization error issues, limiting an accurate estimate of the underlying structure of objects that appear in the scene. To this end, in this article, we propose a deep network that can directly consume raw unstructured point clouds to perform object classification and part segmentation. In particular, a Deep Feature Transformation Network (DFT-Net) has been proposed, consisting of a cascading combination of edge convolutions and a feature transformation layer that captures the local geometric features by preserving neighborhood relationships among the points. The proposed network builds a graph in which the edges are dynamically and independently calculated on each layer. To achieve object classification and part segmentation, we ensure point order invariance while conducting network training simultaneously—the evaluation of the proposed network has been carried out on two standard benchmark datasets for object classification and part segmentation. The results were comparable to or better than existing state-of-the-art methodologies. The overall score obtained using the proposed DFT-Net is significantly improved compared to the state-of-the-art methods with the ModelNet40 dataset for object categorization.

DFT-Net: Deep Feature Transformation Based Network for Object Categorization and Part Segmentation in 3-Dimensional Point Clouds