BILATERAL CONVOLUTION LAYER NETWORK FOR PROCESSING POINT CLOUDS

A method includes filtering a point cloud transformation of a 3D object to generate a 3D lattice and processing the 3D lattice through a series of bilateral convolution networks (BCL), each BCL in the series having a lower lattice feature scale than a preceding BCL in the series. The output of each BCL in the series is concatenated to generate an intermediate 3D lattice. Further filtering of the intermediate 3D lattice generates a first prediction of features of the 3D object.