Encoding three-dimensional data for processing by capsule neural networks

A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations, the operations comprising:

• defining a geometric capsule, wherein the geometric capsule is an encoded form of three-dimensional data that is interpretable by a capsule neural network, and the geometric capsule includes a three-dimensional feature representation and a pose;
• determining multiple viewpoints relative to the geometric capsule;
• determining a first appearance representation of the geometric capsule for each of the multiple viewpoints based on the three-dimensional feature representation for the geometric capsule;
• determining a transform for each of the multiple viewpoints that moves each of the multiple viewpoints to a respective transformed viewpoint;
• determining second appearance representations that each correspond to one of the transformed viewpoints based on the three-dimensional feature representation for the geometric capsule;
• combining the second appearance representations to define an agreed appearance representation;
• and
• updating the three-dimensional feature representation for the geometric capsule based on the agreed appearance representation.

A system, comprising:

• a memory that includes program instructions;
• and
• a processor that is operable to execute the program instructions, wherein the program instructions, when executed by the processor, cause the processor to:
• define a geometric capsule, wherein the geometric capsule is an encoded form of three-dimensional data that is interpretable by a capsule neural network, and the geometric capsule includes a three-dimensional feature representation and a pose;
• determine multiple viewpoints relative to the geometric capsule;
• determine a first appearance representation of the geometric capsule for each of the multiple viewpoints based on the three-dimensional feature representation for the geometric capsule;
• determine a transform for each of the multiple viewpoints that moves each of the multiple viewpoints to a respective transformed viewpoint;
• determine second appearance representations that each correspond to one of the transformed viewpoints based on the three-dimensional feature representation for the geometric capsule;
• combine the second appearance representations to define an agreed appearance representation;
• and
• update the three-dimensional feature representation for the geometric capsule based on the agreed appearance representation.