Learning Inner-Group Relations on Point Clouds

Shown in Fig. 1, we show more examples of attention maps with different scales of grouping. The edge points are more likely to be important in a relatively simple group (i.e., the desk), while for a complex surface, the important points can be anywhere (i.e., the toilet). This observation is reasonable in the real world. To distinguish a shape, we first focus on its outline. But we will consider its internal structure on a complex object.