Reviews: PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space

As clearly indicated in the title, this paper submission is an extension of the PointNet work of [19], to appear at CVPR 2017. The goal is to classify and segment (3D) point clouds. Novel contributions over [19] are the use of a hierarchical network, leveraging neighbourhoods at different scales, and a mechanism to deal with varying sampling densities, effectively generating receptive fields that vary in a data dependent manner. All this leads to state-of-the-art results. PointNet seems an important extension over PointNet, in that it allows to properly exploit local spatial information.