Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling
Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling
We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT [8] to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we first divide a point cloud into several local point patches, and a …