Unsupervised Feature Learning for Point Cloud by Contrasting and Clustering with Graph Convolutional Neural Network

To alleviate the cost of collecting and annotating large- scale point cloud datasets for 3D scene understanding tasks, we propose an unsupervised learning approach to learn features from unlabeled point cloud ”3D object” dataset by using part contrasting and object clustering with deep graph neural networks (GNNs). In the contrast learn- ing step, all the samples in the 3D object dataset are cut into two parts and put into a ”part” dataset. Then a contrast learning GNN (ContrastNet) is trained to verify whether two randomly sampled parts from the part dataset belong to the same object.