Multi-body SE(3) Equivariance for Unsupervised Rigid Segmentation and Motion Estimation (Supplementary Material)

Differently, our unsupervised multi-body task requires the model's ability to handle part-level local equivariance, Figure 1: Structure of our feature extractor based on EPN. "EPNConv" is the SE(3)-equivariant convolution proposed in the vanilla EPN network. Part-level SE(3)-equivariance is desirable for motion analysis, especially rotation estimation. Song and Y ang utilized the methodology proposed by Choy et al . All other objects were considered part of the background.