Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an object of interest or performing shape completion, where a partial scan of an object is reflected across the estimated symmetry plane in order to obtain a more detailed shape. Many methods processing 3D data rely on expensive 3D convolutions. In this paper we present an alternative novel encoding that instead slices the data along the height dimension and passes it sequentially to a 2D convolutional recurrent regression scheme. The method also comprises a differentiable least squares step, allowing for end-to-end accurate and fast processing of both full and partial scans of symmetric objects. We use this approach to efficiently handle 3D inputs to design a method to estimate planar reflective symmetries. We show that our approach has an accuracy comparable to state-of-the-art techniques on the task of planar reflective symmetry estimation on full synthetic objects. Additionally, we show that it can be deployed on partial scans of objects in a real-world pipeline to improve the outputs of a 3D object detector.

该论文提出了一种新的方法，使用二维卷积递归回归方案，通过对高度维度的切片来处理3D数据，并设计了一种估计平面对称性的方法，既可以处理完整的数据，也可以处理真实世界的部分扫描数据，以提高三维物体探测器的输出。

从部分点云中循环估计反射对称平面