{"id":90414,"date":"2026-08-05T08:50:27","date_gmt":"2026-08-05T00:50:27","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/90414.html"},"modified":"2026-08-05T08:50:27","modified_gmt":"2026-08-05T00:50:27","slug":"%e3%80%90point-cloud%e3%80%913d-data-representations-and-pointnet%ef%bc%882%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/90414.html","title":{"rendered":"\u3010Point Cloud\u30113D Data Representations and PointNet\uff082\uff09"},"content":{"rendered":"<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005022-6a7288ce5f5fc.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>3D \u6570\u636e\u4e0e PointNet<\/li>\n<li>\u4e00\u30013D \u6570\u636e\u5e94\u7528\u9886\u57df\u4e0e\u70b9\u4e91\u4ecb\u7ecd<\/li>\n<li>\n<ul>\n<li>\n<ul>\n<li>\u7b2c\u4e00\u6b65&#xff1a;\u6c42\u4e2d\u5fc3\u70b9<\/li>\n<li>\u7b2c\u4e8c\u6b65&#xff1a;\u8ba1\u7b97\u534f\u65b9\u5dee\u77e9\u9635<\/li>\n<li>\u7b2c\u4e09\u6b65&#xff1a;\u7279\u5f81\u503c\u5206\u89e3<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>\u4e8c\u3001\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316<\/li>\n<li>\u4e09\u3001\u70b9\u4e91\u4efb\u52a1\u4e0e\u6570\u636e\u7279\u6027<\/li>\n<li>\u56db\u3001PointNet \u7684\u51fa\u53d1\u70b9<\/li>\n<li>\u4e94\u3001PointNet \u7f51\u7edc\u67b6\u6784<\/li>\n<li>\u53c2\u8003<\/li>\n<\/ul>\n<h2>3D \u6570\u636e\u4e0e PointNet<\/h2>\n<h2>\u4e00\u30013D \u6570\u636e\u5e94\u7528\u9886\u57df\u4e0e\u70b9\u4e91\u4ecb\u7ecd<\/h2>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005022-6a7288cec6ef1.png\" alt=\"\u70b9\u4e91\u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u589e\u5f3a\u73b0\u5b9e\u4e2d\u7684\u5e94\u7528\" \/><\/p>\n<p>\u6ce8&#xff1a;\u70b9\u4e91\u4e3a\u81ea\u52a8\u9a7e\u9a76\u548c\u589e\u5f3a\u73b0\u5b9e\u63d0\u4f9b\u573a\u666f\u51e0\u4f55\u4fe1\u606f&#xff0c;\u662f\u8bb8\u591a 3D \u611f\u77e5\u4efb\u52a1\u7684\u57fa\u7840\u6570\u636e\u3002<\/p>\n<p>self-driving cars&#xff0c;augmented reality<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005023-6a7288cf3abb5.png\" alt=\"\u4f20\u611f\u5668\u91c7\u96c6\u70b9\u4e91\" \/><\/p>\n<p>\u6ce8&#xff1a;\u6fc0\u5149\u96f7\u8fbe\u6216\u6df1\u5ea6\u4f20\u611f\u5668\u5bf9\u7269\u4f53\u8868\u9762\u91c7\u6837&#xff0c;\u5f97\u5230\u7531\u79bb\u6563\u4e09\u7ef4\u70b9\u7ec4\u6210\u7684\u70b9\u4e91\u3002<\/p>\n<p>\u5982\u4f55\u83b7\u53d6 3D \u6570\u636e&#xff1a;\u4f20\u611f\u5668\u626b\u63cf\u540e\u5f97\u5230\u7684\u5c31\u662f\u70b9\u4e91\u6570\u636e&#xff0c;\u5982\u4f55\u5229\u7528\u70b9\u4e91\u6570\u636e\u5462&#xff1f;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005023-6a7288cf5e27d.png\" alt=\"\u70b9\u4e91\u6570\u636e\u96c6\u76ee\u5f55\" \/><\/p>\n<p>\u6ce8&#xff1a;\u793a\u4f8b\u5305\u542b ModelNet40 \u5206\u7c7b\u6570\u636e\u548c ShapeNet \u90e8\u4ef6\u5206\u5272\u6570\u636e\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005023-6a7288cf81bc3.png\" alt=\"ModelNet40 \u7c7b\u522b\u76ee\u5f55\" \/><\/p>\n<p>\u6ce8&#xff1a;ModelNet40 \u6309\u7269\u4f53\u7c7b\u522b\u7ec4\u7ec7\u6837\u672c&#xff0c;\u5982\u98de\u673a\u3001\u6905\u5b50\u3001\u684c\u5b50\u548c\u6c7d\u8f66\u7b49\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005023-6a7288cfa7060.png\" alt=\"\u70b9\u4e91\u6587\u672c\u6587\u4ef6\" \/><\/p>\n<p>\u6ce8&#xff1a;\u8be5\u6837\u672c\u7ea6\u542b 1 \u4e07\u4e2a\u70b9&#xff0c;\u6bcf\u884c\u4fdd\u5b58\u4e00\u4e2a\u70b9\u7684\u5750\u6807\u548c\u6cd5\u5411\u91cf\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005023-6a7288cfcf06b.png\" alt=\"\u70b9\u4e91\u5355\u70b9\u516d\u7ef4\u5c5e\u6027\" \/><\/p>\n<p>\u6ce8&#xff1a;\u6b64\u6570\u636e\u96c6\u4e2d\u6bcf\u4e2a\u70b9\u7531 X\u3001Y\u3001Z\u3001Nx\u3001Ny\u3001Nz \u516d\u4e2a\u6570\u63cf\u8ff0&#xff0c;\u540e\u4e09\u9879\u4e3a\u6cd5\u5411\u91cf\u3002<\/p>\n<p>\u6df1\u5ea6\u8d1f\u8d23\u544a\u8bc9\u4f60\u201c\u70b9\u5728\u54ea\u91cc\u201d&#xff0c;\u6cd5\u5411\u91cf\u544a\u8bc9\u4f60\u201c\u8fd9\u4e2a\u70b9\u6240\u5728\u8868\u9762\u671d\u54ea\u91cc\u201d\u3002<\/p>\n<p>\u6cd5\u5411\u91cf\u600e\u4e48\u8ba1\u7b97&#xff1f;\u6838\u5fc3\u601d\u60f3&#xff1a;<\/p>\n<p>\u627e\u8fd9\u4e2a\u70b9\u5468\u56f4\u7684\u4e00\u5708\u90bb\u5c45\u70b9&#xff0c;\u62df\u5408\u4e00\u4e2a\u5c0f\u5e73\u9762&#xff0c;\u7136\u540e\u6c42\u8fd9\u4e2a\u5e73\u9762\u7684\u5782\u76f4\u65b9\u5411\u3002<\/p>\n<p>\u6570\u5b66\u4e0a\u600e\u4e48\u6c42&#xff1f;\u901a\u5e38\u4f7f\u7528 <font color=\"#1E88E5\">PCA&#xff08;\u4e3b\u6210\u5206\u5206\u6790&#xff09;<\/font>&#xff1a;<\/p>\n<p>\u5047\u8bbe\u67d0\u4e2a\u70b9\u9644\u8fd1\u6709 N \u4e2a\u70b9&#xff1a;<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          P<\/p>\n<p>          i<\/p>\n<p>         &#061;<\/p>\n<p>         (<\/p>\n<p>          x<\/p>\n<p>          i<\/p>\n<p>         ,<\/p>\n<p>          y<\/p>\n<p>          i<\/p>\n<p>         ,<\/p>\n<p>          z<\/p>\n<p>          i<\/p>\n<p>         )<\/p>\n<p>         P_i&#061;(x_i,y_i,z_i) <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<h4>\u7b2c\u4e00\u6b65&#xff1a;\u6c42\u4e2d\u5fc3\u70b9<\/h4>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          P<\/p>\n<p>          \u02c9<\/p>\n<p>         &#061;<\/p>\n<p>          1<\/p>\n<p>          N<\/p>\n<p>         \u2211<\/p>\n<p>          P<\/p>\n<p>          i<\/p>\n<p>         \\\\bar{P}&#061;\\\\frac{1}{N}\\\\sum P_i <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8201em\"><\/span><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8201em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><span class=\"\" style=\"top: -3.2523em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.1667em\"><span class=\"mord\">\u02c9<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.0074em;vertical-align: -0.686em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.3214em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.109em\">N<\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.686em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mop op-symbol large-op\" style=\"position: relative;top: 0em\">\u2211<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<h4>\u7b2c\u4e8c\u6b65&#xff1a;\u8ba1\u7b97\u534f\u65b9\u5dee\u77e9\u9635<\/h4>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         C<\/p>\n<p>         &#061;<\/p>\n<p>          1<\/p>\n<p>          N<\/p>\n<p>         \u2211<\/p>\n<p>         (<\/p>\n<p>          P<\/p>\n<p>          i<\/p>\n<p>         \u2212<\/p>\n<p>          P<\/p>\n<p>          \u02c9<\/p>\n<p>         )<\/p>\n<p>         (<\/p>\n<p>          P<\/p>\n<p>          i<\/p>\n<p>         \u2212<\/p>\n<p>          P<\/p>\n<p>          \u02c9<\/p>\n<p>          )<\/p>\n<p>          T<\/p>\n<p>         C&#061;\\\\frac1N\\\\sum(P_i-\\\\bar P)(P_i-\\\\bar P)^T <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">C<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.0074em;vertical-align: -0.686em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.3214em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.109em\">N<\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.686em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mop op-symbol large-op\" style=\"position: relative;top: 0em\">\u2211<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0701em;vertical-align: -0.25em\"><\/span><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8201em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><span class=\"\" style=\"top: -3.2523em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.1667em\"><span class=\"mord\">\u02c9<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.1413em;vertical-align: -0.25em\"><\/span><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8201em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><span class=\"\" style=\"top: -3.2523em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.1667em\"><span class=\"mord\">\u02c9<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"mclose\">)<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8913em\"><span class=\"\" style=\"top: -3.113em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1389em\">T<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<h4>\u7b2c\u4e09\u6b65&#xff1a;\u7279\u5f81\u503c\u5206\u89e3<\/h4>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         C<\/p>\n<p>         v<\/p>\n<p>         &#061;<\/p>\n<p>         \u03bb<\/p>\n<p>         v<\/p>\n<p>         Cv&#061;\\\\lambda v <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">C<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">v<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">\u03bb<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">v<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5f97\u5230\u4e09\u4e2a\u65b9\u5411&#xff1a;<\/p>\n<p>\u6700\u5927\u7279\u5f81\u503c\u65b9\u5411&#xff1a;<br \/>\n\u70b9\u4e91\u53d8\u5316\u6700\u5927\u7684\u65b9\u5411<\/p>\n<p>\u7b2c\u4e8c\u65b9\u5411&#xff1a;<br \/>\n\u6b21\u5927\u53d8\u5316\u65b9\u5411<\/p>\n<p>\u6700\u5c0f\u7279\u5f81\u503c\u65b9\u5411&#xff1a;<br \/>\n\u53d8\u5316\u6700\u5c0f\u65b9\u5411<\/p>\n<p>\u53d8\u5316\u6700\u5c0f\u65b9\u5411\u5c31\u662f&#xff1a;<font color=\"#1E88E5\">\u5e73\u9762\u7684\u6cd5\u5411\u91cf<\/font><\/p>\n<hr \/>\n<p>\u4f8b\u5982\u4e00\u4e2a\u684c\u9762&#xff1a;<\/p>\n<p>x\u65b9\u5411\u53d8\u5316\u5f88\u5927<br \/>\ny\u65b9\u5411\u53d8\u5316\u5f88\u5927<br \/>\nz\u65b9\u5411\u51e0\u4e4e\u4e0d\u53d8<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\u6700\u5927&#xff1a;<br \/>\n\u2192<\/p>\n<p>\u7b2c\u4e8c&#xff1a;<br \/>\n\u2193<\/p>\n<p>\u6700\u5c0f&#xff1a;<br \/>\n\u2191<\/p>\n<p>\u6700\u7ec8&#xff1a;<\/p>\n<p>Normal &#061; (0,0,1)<\/p>\n<hr \/>\n<p><font color=\"#1E88E5\">\u70b9\u4e91\u6cd5\u5411\u91cf\u5c31\u662f\u70b9\u4e91\u8868\u9762\u7684\u671d\u5411\u4fe1\u606f&#xff0c;\u901a\u8fc7\u5206\u6790\u4e00\u4e2a\u70b9\u9644\u8fd1\u90bb\u57df\u7684\u51e0\u4f55\u7ed3\u6784&#xff0c;\u627e\u5230\u8be5\u5c40\u90e8\u5e73\u9762\u7684\u5782\u76f4\u65b9\u5411&#xff1b;\u5b83\u8ba9\u70b9\u4e91\u4ece\u201c\u53ea\u6709\u4f4d\u7f6e\u201d\u5347\u7ea7\u4e3a\u201c\u6709\u51e0\u4f55\u5f62\u72b6\u7684\u4fe1\u606f\u201d\u3002<\/font><\/p>\n<p>\u684c\u9762&#xff1a;<\/p>\n<p>Normal:<br \/>\n\u5411\u4e0a<\/p>\n<p>\u5899&#xff1a;<\/p>\n<p>Normal:<br \/>\n\u6c34\u5e73<\/p>\n<p>\u6c99\u53d1&#xff1a;<\/p>\n<p>\u591a\u4e2a\u65b9\u5411<\/p>\n<p><font color=\"#1E88E5\">\u6cd5\u5411\u91cf\u53ef\u4ee5\u4f5c\u4e3a\u51e0\u4f55\u7279\u5f81\u3002<\/font><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d007cb0.png\" alt=\"\u70b9\u4e91\u77e9\u9635\u7ed3\u6784\" \/><\/p>\n<p>\u6ce8&#xff1a;1 \u4e07\u4e2a\u516d\u7ef4\u70b9\u53ef\u8868\u793a\u4e3a 10000\u00d76 \u7684\u77e9\u9635&#xff1b;\u70b9\u6570\u548c\u5c5e\u6027\u7ef4\u6570\u53d6\u51b3\u4e8e\u5177\u4f53\u6570\u636e\u96c6\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u3001\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316<\/h2>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d03741c.png\" alt=\"CloudCompare \u5bfc\u5165\u5b57\u6bb5\u8bbe\u7f6e\" \/><\/p>\n<p>\u6ce8&#xff1a;\u5728 CloudCompare \u4e2d\u5c06\u516d\u5217\u4f9d\u6b21\u6307\u5b9a\u4e3a\u4e09\u7ef4\u5750\u6807 X\u3001Y\u3001Z \u548c\u6cd5\u5411\u91cf Nx\u3001Ny\u3001Nz\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d0613f5.png\" alt=\"\u98de\u673a\u70b9\u4e91\" \/><\/p>\n<p>\u6ce8&#xff1a;\u98de\u673a\u7531\u79bb\u6563\u70b9\u7684\u4f4d\u7f6e\u5173\u7cfb\u8868\u793a&#xff0c;\u5373\u4f7f\u6ca1\u6709\u7eb9\u7406&#xff0c;\u4e5f\u80fd\u770b\u51fa\u673a\u7ffc\u548c\u673a\u8eab\u8f6e\u5ed3\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d087a0f.png\" alt=\"\u6905\u5b50\u70b9\u4e91\" \/><\/p>\n<p>\u6ce8&#xff1a;\u6905\u5b50\u70b9\u4e91\u5c55\u793a\u4e86\u5ea7\u9762\u3001\u9760\u80cc\u548c\u6905\u817f\u7b49\u51e0\u4f55\u7ed3\u6784\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u3001\u70b9\u4e91\u4efb\u52a1\u4e0e\u6570\u636e\u7279\u6027<\/h2>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d0ad9ac.png\" alt=\"PointNet \u652f\u6301\u7684\u4e09\u7c7b\u4efb\u52a1\" \/><\/p>\n<p>\u6ce8&#xff1a;PointNet \u53ef\u7528\u4e8e\u7269\u4f53\u5206\u7c7b\u3001\u90e8\u4ef6\u5206\u5272\u548c\u573a\u666f\u8bed\u4e49\u5206\u5272\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005024-6a7288d0d2c0c.png\" alt=\"\u8bed\u4e49\u5206\u5272\u4e0e\u90e8\u4ef6\u5206\u5272\u793a\u4f8b\" \/><\/p>\n<p>\u6ce8&#xff1a;\u8bed\u4e49\u5206\u5272\u4e3a\u573a\u666f\u4e2d\u7684\u6bcf\u4e2a\u70b9\u9884\u6d4b\u7c7b\u522b&#xff0c;\u90e8\u4ef6\u5206\u5272\u5219\u533a\u5206\u5355\u4e2a\u7269\u4f53\u7684\u4e0d\u540c\u7ec4\u6210\u90e8\u5206\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d10bf8e.png\" alt=\"\u591a\u89c6\u56fe\u4e09\u7ef4\u5206\u7c7b\u65b9\u6cd5\" \/><\/p>\n<p>\u6ce8&#xff1a;\u4f20\u7edf\u591a\u89c6\u56fe\u65b9\u6cd5\u5148\u628a 3D \u6a21\u578b\u6e32\u67d3\u4e3a\u591a\u5f20 2D \u56fe\u50cf&#xff0c;\u518d\u901a\u8fc7\u89c6\u56fe\u6c60\u5316\u6c47\u603b\u7279\u5f81\u8fdb\u884c\u5206\u7c7b\u3002<\/p>\n<p>\u8ba1\u7b97\u4e0a\u4e0d\u9ad8\u6548<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d132b5f.png\" alt=\"\u70b9\u4e91\u7684\u4e3b\u8981\u7279\u6027\" \/><\/p>\n<p>\u6ce8&#xff1a;\u70b9\u4e91\u5177\u6709\u65e0\u5e8f\u3001\u975e\u7ed3\u6784\u5316\u548c\u91c7\u6837\u5bc6\u5ea6\u4e0d\u5747\u7b49\u7279\u70b9&#xff0c;\u4e0d\u80fd\u76f4\u63a5\u5957\u7528\u89c4\u5219\u7f51\u683c\u4e0a\u7684\u666e\u901a\u5377\u79ef\u3002<\/p>\n<table>\n<tr>\u70b9\u4e91\u7279\u6027\u5177\u4f53\u8868\u73b0\u5bf9\u7b97\u6cd5\u7684\u5f71\u54cd<\/tr>\n<tbody>\n<tr>\n<td>\u65e0\u5e8f\u6027<\/td>\n<td>\u70b9\u7684\u6392\u5217\u987a\u5e8f\u6ca1\u6709\u5b9e\u9645\u610f\u4e49<\/td>\n<td>\u6a21\u578b\u9700\u8981\u5177\u5907\u6392\u5217\u4e0d\u53d8\u6027<\/td>\n<\/tr>\n<tr>\n<td>\u975e\u7ed3\u6784\u5316<\/td>\n<td>\u4e0d\u50cf\u56fe\u50cf\u5177\u6709\u89c4\u5219\u7f51\u683c&#xff0c;<font color=\"#1E88E5\">\u70b9\u4e4b\u95f4\u6ca1\u6709\u56fa\u5b9a\u90bb\u63a5\u5173\u7cfb<\/font><\/td>\n<td>\u9700\u8981\u901a\u8fc7 KNN\u3001\u534a\u5f84\u641c\u7d22\u3001KD-Tree\u3001\u4f53\u7d20\u7b49\u65b9\u5f0f\u6784\u5efa\u90bb\u57df<\/td>\n<\/tr>\n<tr>\n<td>\u7a00\u758f\u6027<\/td>\n<td>\u70b9\u4e3b\u8981\u5206\u5e03\u5728\u7269\u4f53\u8868\u9762&#xff0c;\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u5927\u91cf\u533a\u57df\u4e3a\u7a7a<\/td>\n<td>\u9002\u5408\u4f7f\u7528\u7a00\u758f\u5377\u79ef\u3001\u4f53\u7d20\u5316\u7b49\u65b9\u6cd5\u964d\u4f4e\u8ba1\u7b97\u91cf<\/td>\n<\/tr>\n<tr>\n<td>\u5bc6\u5ea6\u4e0d\u5747\u5300<\/td>\n<td>\u8fd1\u5904\u70b9\u5bc6\u3001\u8fdc\u5904\u70b9\u7a00&#xff0c;\u4e0d\u540c\u8868\u9762&#xff08;\u5782\u76f4\u3001\u503e\u659c&#xff09;\u91c7\u6837\u5bc6\u5ea6\u4e0d\u540c<\/td>\n<td>\u7279\u5f81\u63d0\u53d6\u9700\u8981\u9002\u5e94\u4e0d\u540c\u5c3a\u5ea6\u548c\u4e0d\u540c\u70b9\u5bc6\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>\u4e09\u7ef4\u51e0\u4f55\u4fe1\u606f\u660e\u786e<\/td>\n<td>\u6bcf\u4e2a\u70b9\u76f4\u63a5\u5305\u542b (x,y,z) \u5750\u6807<\/td>\n<td>\u53ef\u4ee5\u76f4\u63a5\u8ba1\u7b97\u8ddd\u79bb\u3001\u9ad8\u5ea6\u3001\u5f62\u72b6\u3001\u6cd5\u5411\u91cf\u548c\u7a7a\u95f4\u5173\u7cfb<\/td>\n<\/tr>\n<tr>\n<td>\u5c40\u90e8\u7ed3\u6784\u660e\u663e<\/td>\n<td>\u90bb\u57df\u5185\u53ef\u80fd\u5448\u73b0\u5e73\u9762\u3001\u66f2\u9762\u3001\u8fb9\u7f18\u6216\u7ebf\u72b6\u7ed3\u6784<\/td>\n<td>\u53ef\u901a\u8fc7\u6cd5\u5411\u91cf\u3001\u66f2\u7387\u548c\u5c40\u90e8\u7279\u5f81\u63cf\u8ff0\u51e0\u4f55\u5f62\u6001<\/td>\n<\/tr>\n<tr>\n<td>\u566a\u58f0\u548c\u79bb\u7fa4\u70b9\u8f83\u591a<\/td>\n<td>\u53d7\u6d4b\u8ddd\u8bef\u5dee\u3001\u53cd\u5c04\u3001\u5929\u6c14\u548c\u4f20\u611f\u5668\u8bef\u5dee\u5f71\u54cd<\/td>\n<td>\u901a\u5e38\u9700\u8981\u6ee4\u6ce2\u3001\u53bb\u566a\u548c\u79bb\u7fa4\u70b9\u5254\u9664<\/td>\n<\/tr>\n<tr>\n<td>\u906e\u6321\u4e0e\u7f3a\u5931<\/td>\n<td>\u53ea\u80fd\u91c7\u96c6\u4f20\u611f\u5668\u53ef\u89c1\u7684\u7269\u4f53\u8868\u9762<\/td>\n<td>\u76ee\u6807\u70b9\u4e91\u5f80\u5f80\u4e0d\u5b8c\u6574&#xff0c;\u8bc6\u522b\u4e0e\u914d\u51c6\u96be\u5ea6\u589e\u52a0<\/td>\n<\/tr>\n<tr>\n<td>\u89c6\u89d2\u76f8\u5173<\/td>\n<td>\u4e0d\u540c\u4f20\u611f\u5668\u4f4d\u7f6e\u91c7\u96c6\u5230\u7684\u70b9\u4e91\u5f62\u6001\u4e0d\u540c<\/td>\n<td>\u9700\u8981\u8003\u8651\u591a\u89c6\u89d2\u878d\u5408\u3001\u914d\u51c6\u548c\u5750\u6807\u53d8\u6362<\/td>\n<\/tr>\n<tr>\n<td>\u5bf9\u65cb\u8f6c\u548c\u5e73\u79fb\u654f\u611f<\/td>\n<td>\u540c\u4e00\u7269\u4f53\u53d8\u6362\u5750\u6807\u7cfb\u540e&#xff0c;\u70b9\u5750\u6807\u4f1a\u53d1\u751f\u53d8\u5316<\/td>\n<td>\u6a21\u578b\u9700\u8981\u5904\u7406\u65cb\u8f6c\u3001\u5e73\u79fb\u548c\u5c3a\u5ea6\u53d8\u5316<\/td>\n<\/tr>\n<tr>\n<td>\u5c5e\u6027\u591a\u6837<\/td>\n<td>\u9664\u5750\u6807\u5916&#xff0c;\u8fd8\u53ef\u5305\u542b\u989c\u8272\u3001\u53cd\u5c04\u5f3a\u5ea6\u3001\u65f6\u95f4\u6233\u548c\u8bed\u4e49\u6807\u7b7e<\/td>\n<td>\u80fd\u878d\u5408\u66f4\u591a\u4fe1\u606f&#xff0c;\u4f46\u6570\u636e\u5904\u7406\u66f4\u52a0\u590d\u6742<\/td>\n<\/tr>\n<tr>\n<td>\u6570\u636e\u91cf\u5927<\/td>\n<td>\u5355\u5e27\u53ef\u80fd\u5305\u542b\u6570\u4e07\u5230\u6570\u767e\u4e07\u4e2a\u70b9<\/td>\n<td>\u5e26\u6765\u8f83\u9ad8\u7684\u5b58\u50a8\u3001\u90bb\u57df\u641c\u7d22\u548c\u63a8\u7406\u6210\u672c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d157889.png\" alt=\"\u540c\u4e00\u7269\u4f53\u4e0a\u7684\u91c7\u6837\u5dee\u5f02\" \/><\/p>\n<p>\u6ce8&#xff1a;\u65e0\u5e8f\u6027&#xff0c;\u4e0a\u56fe\u7684\u70b9\u4ea4\u6362&#xff0c;\u70b9\u4e91\u6ca1\u5f71\u54cd<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d17d3c9.png\" alt=\"\u8fd1\u5bc6\u8fdc\u758f\u73b0\u8c61\" \/><\/p>\n<p>\u6ce8&#xff1a;\u53d7\u626b\u63cf\u8ddd\u79bb\u548c\u89c6\u89d2\u5f71\u54cd&#xff0c;\u8fd1\u5904\u70b9\u901a\u5e38\u66f4\u5bc6&#xff0c;\u8fdc\u5904\u6216\u906e\u6321\u533a\u57df\u66f4\u7a00\u758f\u3002<\/p>\n<hr \/>\n<h2>\u56db\u3001PointNet \u7684\u51fa\u53d1\u70b9<\/h2>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d1afdaf.png\" alt=\"PointNet \u7aef\u5230\u7aef\u5904\u7406\u70b9\u4e91\" \/><\/p>\n<p>\u6ce8&#xff1a;PointNet \u76f4\u63a5\u63a5\u6536\u539f\u59cb\u70b9\u96c6&#xff0c;\u7aef\u5230\u7aef\u5b8c\u6210\u5206\u7c7b\u3001\u90e8\u4ef6\u5206\u5272\u6216\u573a\u666f\u89e3\u6790\u3002<\/p>\n<p>\u5f53\u4e0b\u6df1\u5ea6\u5b66\u4e60\u7684\u6838\u5fc3\u601d\u60f3\u5c31\u662f\u4e00\u6761\u9f99\u670d\u52a1&#xff08;End2End&#xff09;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005025-6a7288d1d3b16.png\" alt=\"\u7f6e\u6362\u4e0d\u53d8\u6027\" \/><\/p>\n<p>\u6ce8&#xff1a;\u70b9\u7684\u6392\u5217\u987a\u5e8f\u4e0d\u5e94\u6539\u53d8\u8f93\u51fa&#xff0c;\u56e0\u6b64\u7f51\u7edc\u9700\u8981<font color=\"#1E88E5\">\u7f6e\u6362\u4e0d\u53d8\u6027<\/font>&#xff1b;max \u548c\u6c42\u548c\u90fd\u662f\u5bf9\u79f0\u51fd\u6570\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260805005026-6a7288d20545a.png\" alt=\"\u76f4\u63a5\u5bf9\u5750\u6807\u505a\u6700\u5927\u6c60\u5316\" \/><\/p>\n<p>\u6ce8&#xff1a;\u76f4\u63a5\u5bf9\u4e09\u7ef4\u5750\u6807\u53d6\u6700\u5927\u503c\u53ea\u5f97\u5230\u5f88\u5c11\u7684\u7edf\u8ba1\u91cf&#xff0c;\u4f1a\u4e22\u5931\u5927\u91cf\u51e0\u4f55\u4fe1\u606f\u3002<\/p>\n<p>\u80fd\u4e0d\u80fd\u5148\u5347\u7ef4\u518d\u505a max \u64cd\u4f5c<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        h<\/p>\n<p>        (<\/p>\n<p>        x<\/p>\n<p>        )<\/p>\n<p>       h(x)<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\">h<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff1a; \u7279\u5f81\u5347\u7ef4\u51fd\u6570&#xff08;\u5bf9\u5e94\u795e\u7ecf\u7f51\u7edc\u7684\u9690\u5c42&#xff09;&#xff0c;\u5c06\u8f93\u5165\u6620\u5c04\u5230\u66f4\u9ad8\u7ef4\u5ea6\u7684\u7a7a\u95f4&#xff0c;eg 3-&gt;16-&gt;64-&gt;128-&gt;256-&gt;512-&gt;1024<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        g<\/p>\n<p>       g<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">g<\/span><\/span><\/span><\/span><\/span>&#xff1a; \u805a\u5408\u51fd\u6570&#xff08;\u5373\u56fe\u4e2d\u7684 Max \u64cd\u4f5c&#xff09;&#xff0c;\u7528\u4e8e\u6574\u5408\u9ad8\u7ef4\u7279\u5f81\u3002<\/p>\n<p><span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        \u03b3<\/p>\n<p>       \\\\gamma<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0556em\">\u03b3<\/span><\/span><\/span><\/span><\/span>&#xff1a; \u540e\u7eed\u7684\u590d\u5408\u53d8\u6362\u6216\u8f93\u51fa\u5c42&#xff0c;\u7528\u4e8e\u5f97\u5230\u6700\u7ec8\u7684\u7ed3\u679c\u3002<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05ma3f2v4p05j.png\" alt=\"\u5347\u7ef4\u540e\u518d\u505a\u6700\u5927\u6c60\u5316\" \/><\/p>\n<p>\u6ce8&#xff1a;PointNet \u5148\u7528\u5171\u4eab\u7f51\u7edc\u628a\u6bcf\u4e2a\u70b9\u6620\u5c04\u5230\u9ad8\u7ef4\u7279\u5f81&#xff0c;\u518d\u7528\u6700\u5927\u6c60\u5316\u6c47\u805a\u5168\u5c40\u4fe1\u606f\u3002<\/p>\n<p>\u5347\u7ef4\u5176\u5b9e\u5c31\u662f\u795e\u7ecf\u7f51\u7edc\u7684 hidden layer<\/p>\n<hr \/>\n<h2>\u4e94\u3001PointNet \u7f51\u7edc\u67b6\u6784<\/h2>\n<p><img decoding=\"async\" src=\"2026-08-05arbpespa4kq.png\" alt=\"PointNet \u57fa\u672c\u6a21\u578b\" \/><\/p>\n<p>\u6ce8&#xff1a;\u5171\u4eab MLP \u9010\u70b9\u63d0\u53d6\u7279\u5f81&#xff0c;\u5bf9\u6240\u6709\u70b9\u505a\u6700\u5927\u6c60\u5316\u5f97\u5230\u5168\u5c40\u7279\u5f81&#xff0c;\u6700\u540e\u7531 MLP \u8f93\u51fa\u7ed3\u679c\u3002<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05tq1c5cv25rl.png\" alt=\"PointNet \u5206\u7c7b\u4e0e\u5206\u5272\u67b6\u6784\" \/><\/p>\n<p>\u6ce8&#xff1a;\u5206\u7c7b\u5206\u652f\u4f7f\u7528\u5168\u5c40\u7279\u5f81\u9884\u6d4b\u7269\u4f53\u7c7b\u522b&#xff1b;\u5206\u5272\u5206\u652f\u7ed3\u5408\u5168\u5c40\u7279\u5f81\u4e0e\u9010\u70b9\u7279\u5f81&#xff0c;\u4e3a\u6bcf\u4e2a\u70b9\u5206\u7c7b\u3002<\/p>\n<p>\u5206\u7c7b\u662f\u4e0a\u9762\u84dd\u8272\u533a\u57df\u6240\u793a<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05tf24up0sr1m.png\" alt=\"PointNet \u7684\u8f93\u5165\u4e0e\u7279\u5f81\u53d8\u6362\" \/><\/p>\n<p>\u6ce8&#xff1a;\u4e24\u4e2a T-Net \u5206\u522b\u5b66\u4e60\u8f93\u5165\u5750\u6807\u548c\u4e2d\u95f4\u7279\u5f81\u7684\u5bf9\u9f50\u53d8\u6362&#xff0c;\u63d0\u9ad8\u6a21\u578b\u5bf9\u51e0\u4f55\u53d8\u6362\u7684\u9002\u5e94\u6027&#xff08;\u4fbf\u4e8e\u7406\u89e3\u6574\u4f53\u6d41\u7a0b&#xff0c;\u628a T-Net \u62b9\u53bb\u4e86&#xff09;\u3002<\/p>\n<p><img decoding=\"async\" src=\"2026-08-050mdkbed50i2.png\" alt=\"PointNet \u7279\u5f81\u7ef4\u5ea6\u53d8\u5316\" \/><\/p>\n<p>\u6ce8&#xff1a;\u8f93\u5165\u4ece N\u00d73 \u9010\u70b9\u6620\u5c04\u5230 N\u00d764\u3001N\u00d71024&#xff0c;\u518d\u7ecf\u6700\u5927\u6c60\u5316\u5f97\u5230 1024 \u7ef4\u5168\u5c40\u7279\u5f81\u3002<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05uneqwokcswg.png\" alt=\"PointNet \u5206\u7c7b\u5206\u652f\" \/><\/p>\n<p>\u6ce8&#xff1a;\u5206\u7c7b\u5206\u652f\u628a 1024 \u7ef4\u5168\u5c40\u7279\u5f81\u9001\u5165\u591a\u5c42\u611f\u77e5\u673a&#xff0c;\u6700\u7ec8\u8f93\u51fa K \u4e2a\u7c7b\u522b\u5206\u6570\u3002<\/p>\n<p>eg&#xff1a;2048 \u4e2a\u70b9\u4e91&#xff0c;\u6bcf\u4e2a\u70b9\u4e91 1024 \u7ef4\u7279\u5f81&#xff0c;max \u540e\u5f97\u5230 1024&#xff0c;MLP \u540e K-dimension \u5411\u91cf<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05qgjsejcxbyp.png\" alt=\"PointNet \u5206\u5272\u5206\u652f\" \/><\/p>\n<p>\u6ce8&#xff1a;\u5206\u5272\u5206\u652f\u5c06\u5168\u5c40\u7279\u5f81\u590d\u5236\u5230\u6bcf\u4e2a\u70b9&#xff0c;\u4e0e 64 \u7ef4\u5c40\u90e8\u7279\u5f81\u62fc\u63a5\u6210 N\u00d71088&#xff0c;\u518d\u8f93\u51fa\u6bcf\u4e2a\u70b9\u7684 M \u7c7b\u5206\u6570\u3002<\/p>\n<p>1024 global feature \u590d\u5236\u4e86 N \u4efd\u548c\u524d\u9762\u7684 64 \u7ef4\u5c40\u90e8\u7279\u5f81 concat&#xff0c;64&#043;1024 &#061; 1088<\/p>\n<h2>\u53c2\u8003<\/h2>\n<p>https:\/\/www.bilibili.com\/video\/BV1edjczQEcZ?spm_id_from&#061;333.788.videopod.episodes&#038;vd_source&#061;a2337ee1e48dbaccac1746d36aed6c99&#038;p&#061;7<\/p>\n<p><img decoding=\"async\" src=\"2026-08-05dvdpffhswzb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u76ee\u5f553D \u6570\u636e\u4e0e PointNet\u4e00\u30013D \u6570\u636e\u5e94\u7528\u9886\u57df\u4e0e\u70b9\u4e91\u4ecb\u7ecd\u7b2c\u4e00\u6b65&#xff1a;\u6c42\u4e2d\u5fc3\u70b9\u7b2c\u4e8c\u6b65&#xff1a;\u8ba1\u7b97\u534f\u65b9\u5dee\u77e9\u9635\u7b2c\u4e09\u6b65&#xff1a;\u7279\u5f81\u503c\u5206\u89e3\u4e8c\u3001\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316\u4e09\u3001\u70b9\u4e91\u4efb\u52a1\u4e0e\u6570\u636e\u7279\u6027\u56db\u3001PointNet \u7684\u51fa\u53d1\u70b9\u4e94\u3001PointNet \u7f51\u7edc\u67b6\u6784\u53c2\u80033D \u6570\u636e\u4e0e PointNet<br \/>\n\u4e00\u30013D \u6570\u636e\u5e94\u7528\u9886\u57df\u4e0e\u70b9\u4e91\u4ecb\u7ecd \u6ce8&#xff1a;\u70b9\u4e91\u4e3a\u81ea\u52a8\u9a7e\u9a76\u548c\u589e\u5f3a\u73b0\u5b9e\u63d0\u4f9b\u573a\u666f\u51e0\u4f55\u4fe1\u606f&#xff0c;\u662f\u8bb8\u591a 3D \u611f\u77e5\u4efb\u52a1\u7684\u57fa\u7840\u6570\u636e\u3002 self-driving ca<\/p>\n","protected":false},"author":2,"featured_media":90394,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[10288,10287,10289,10291,10290],"topic":[],"class_list":["post-90414","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-modelnet40","tag-pointnet","tag-shapenet","tag-10291","tag-10290"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u3010Point Cloud\u30113D Data Representations and PointNet\uff082\uff09 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/90414.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta 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