PointTree: Transformation-Robust Point Cloud Encoder with Relaxed K-D Trees

Jun Kun Chen, Yu Xiong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Being able to learn an effective semantic representation directly on raw point clouds has become a central topic in 3D understanding. Despite rapid progress, state-of-the-art encoders are restrictive to canonicalized point clouds, and have weaker than necessary performance when encountering geometric transformation distortions. To overcome this challenge, we propose PointTree, a general-purpose point cloud encoder that is robust to transformations based on relaxed K-D trees. Key to our approach is the design of the division rule in K-D trees by using principal component analysis (PCA). We use the structure of the relaxed K-D tree as our computational graph, and model the features as border descriptors which are merged with pointwise-maximum operation. In addition to this novel architecture design, we further improve the robustness by introducing pre-alignment – a simple yet effective PCA-based normalization scheme. Our PointTree encoder combined with pre-alignment consistently outperforms state-of-the-art methods by large margins, for applications from object classification to semantic segmentation on various transformed versions of the widely-benchmarked datasets. Code and pre-trained models are available at https://github.com/immortalCO/PointTree.

Original languageEnglish (US)
Title of host publicationComputer Vision – ECCV 2022 - 17th European Conference, Proceedings
EditorsShai Avidan, Gabriel Brostow, Moustapha Cissé, Giovanni Maria Farinella, Tal Hassner
Number of pages16
ISBN (Print)9783031200618
StatePublished - 2022
Event17th European Conference on Computer Vision, ECCV 2022 - Tel Aviv, Israel
Duration: Oct 23 2022Oct 27 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13663 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference17th European Conference on Computer Vision, ECCV 2022
CityTel Aviv

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


Dive into the research topics of 'PointTree: Transformation-Robust Point Cloud Encoder with Relaxed K-D Trees'. Together they form a unique fingerprint.

Cite this