QPoint: End-to-End Lightweight Point Cloud Processing via Robust Quaternion Feature Learning

摘要

The inherent sparsity, lack of structure, and rotation sensitivity of point clouds often lead to high computational and parameter cost in robust feature learning. To address these problems, we present QPoint, a lightweight framework that leverages robust quaternion feature learning. QPoint incorporates a Quaternion-Enhanced local perception module that uses learnable rotations to stabilize local features against geometric transformations, and a Quaternion global attention mechanism that employs quaternion similarity to capture global geometric context with inherent rotation invariance. Extensive experiments show that QPoint achieves top performance across multiple tasks. It achieves excellent 95.0%, 93.9%, and 92.1% on the challenging ScanObjectNN variants (OBJ_BG, OBJ_ONLY, PB_T50_RS), 94.7% overall accuracy on ModelNet40, and 87.0% instance mIoU on ShapeNetParts. Furthermore, QPoint exhibits superior generalization in few-shot learning scenarios. Crucially, it accomplishes this with extremely minimal parameter and computational requirements, establishing a strong and efficient baseline for point cloud processing. Our source code is in the supplementary material and will be released to the public.