In this paper, we introduce a Point Recurrent Neural Network (PointRNN) for
moving point cloud processing. At each time step, PointRNN takes point
coordinates $\boldsymbol{P} \in \mathbb{R}^{n \times 3}$ and point features
$\boldsymbol{X} \in \mathbb{R}^{n \times d}$ as input ($n$ and $d$ denote the
number of points and the number of feature channels, respectively). The state
of PointRNN is composed of point coordinates $\boldsymbol{P}$ and point states
$\boldsymbol{S} \in \mathbb{R}^{n \times d'}$ ($d'$ denotes the number of state
channels). Similarly, the output of PointRNN is composed of $\boldsymbol{P}$
and new point features $\boldsymbol{Y} \in \mathbb{R}^{n \times d''}$ ($d''$
denotes the number of new feature channels). Since point clouds are orderless,
point features and states from two time steps can not be directly operated.
Therefore, a point-based spatiotemporally-local correlation is adopted to
aggregate point features and states according to point coordinates. We further
propose two variants of PointRNN, i.e., Point Gated Recurrent Unit (PointGRU)
and Point Long Short-Term Memory (PointLSTM). We apply PointRNN, PointGRU and
PointLSTM to moving point cloud prediction, which aims to predict the future
trajectories of points in a set given their history movements. Experimental
results show that PointRNN, PointGRU and PointLSTM are able to produce correct
predictions on both synthetic and real-world datasets, demonstrating their
ability to model point cloud sequences. The code has been released at
https://github.com/hehefan/PointRNN.

本文介绍了 PointRNN，它是一种用于移动点云处理的神经网络，在移动点云预测中产生准确的预测结果，使得点云序列的建模成为可能。