This study proposes a set of generic rules to revise existing neural networks for 3D point cloud processing to rotation-equivariant quaternion neural networks (REQNNs), in order to make feature representations of neural networks to be rotation-equivariant and permutation-invariant. Rotation equivariance of features means that the feature computed on a rotated input point cloud is the same as applying the same rotation transformation to the feature computed on the original input point cloud. We find that the rotation-equivariance of features is naturally satisfied, if a neural network uses quaternion features. Interestingly, we prove that such a network revision also makes gradients of features in the REQNN to be rotation-equivariant w.r.t. inputs, and the training of the REQNN to be rotation-invariant w.r.t. inputs. Besides, permutation-invariance examines whether the intermediate-layer features are invariant, when we reorder input points. We also evaluate the stability of knowledge representations of REQNNs, and the robustness of REQNNs to adversarial rotation attacks. Experiments have shown that REQNNs outperform traditional neural networks in both terms of classification accuracy and robustness on rotated testing samples.

In this paper, we diagnose deep neural networks for 3D point cloud processing to explore utilities of different intermediate-layer network architectures. We propose a number of hypotheses on the effects of specific intermediate-layer network architectures on the representation capacity of DNNs. In order to prove the hypotheses, we design five metrics to diagnose various types of DNNs from the following perspectives, information discarding, information concentration, rotation robustness, adversarial robustness, and neighborhood inconsistency. We conduct comparative studies based on such metrics to verify the hypotheses. We further use the verified hypotheses to revise intermediate-layer architectures of existing DNNs and improve their utilities. Experiments demonstrate the effectiveness of our method. The code will be released when this paper is accepted.

This paper proposes a method to modify a traditional convolutional neural network (CNN) into an interpretable compositional CNN, in order to learn filters that encode meaningful visual patterns in intermediate convolutional layers. In a compositional CNN, each filter is supposed to consistently represent a specific compositional object part or image region with a clear meaning. The compositional CNN learns from image labels for classification without any annotations of parts or regions for supervision. Our method can be broadly applied to different types of CNNs. Experiments have demonstrated the effectiveness of our method. The code will be released when the paper is accepted.