TNPC: Transformer-based network for cloud classification☆

Point cloud classification has emerged as a vital research area in several emerging applications, including robotics and autonomous driving. However, discriminative feature learning has long been a challenging issue owing to the irregularity and disorder of point clouds. Recently, although Transformer-based methods can achieve high accuracy in point cloud learning, plenty of Transformer layers bring huge computation and memory consumption. This paper presents a novel hierarchical local-global framework based on Transformer network for point clouds, named TNPC. TNPC contains two serial Stages implementing downsampling operation, and each Stage is composed of a local feature extracting (LFE) block and a global feature extracting (GFE) block, which can reduce computation and memory consumption obviously. LFE block consists of two parallel branches, namely Transformer branch and shared multilayer perceptron (SMLP) branch, which are designed to learn relevant feature of any two points and local high-dimensional semantic features of each point between sampling centroid and its neighborhoods, respectively. The proposed two parallel branches not only improve the feature extraction effect, but also reduce the computation and memory consumption. GFE block consists of a center point contact (CPC) module and a global point cloud transformer layer (PCTL) module, which can improve the effect of global features extracting without adding the number of parameters and computation. The performance of our method is validated experimentally on ModelNet40 and ScanObjectNN datasets. Our method improves the mean accuracy on each category (mAcc) to 91.6% and 79.8% on the ModelNet40 dataset and ScanObjectNN dataset, respectively. In terms of efficiency, our method leads to a significant reduction, with only 4.73MB parameters and only 1.91GB floating-point operations (FLOPs). Experimental results demonstrate that the proposed method achieves state-of-the-art performance on classification accuracy and efficiency.