Voxel-MAE: Masked Autoencoders for Pre-training Large-scale Point Clouds. (arXiv:2206.09900v4 [cs.CV] UPDATED)

Mask-based pre-training has achieved great success for self-supervised
learning in images and languages without manually annotated supervision.
However, it has not yet been studied for large-scale point clouds with
redundant spatial information. In this research, we propose a mask voxel
autoencoder network for pre-training large-scale point clouds, dubbed
Voxel-MAE. Our key idea is to transform the point clouds into voxel
representations and classify whether the voxel contains point clouds. This
simple but effective strategy makes the network voxel-aware of the …

arxiv cv pre-training scale training voxel