Submanifold Sparse Convolutional Networks

Convolutional network are the de-facto standard for analysing spatio-temporal data such as images, videos, 3D shapes, etc. Whilst some of this data is naturally dense (for instance, photos), many other data sources are inherently sparse. Examples include pen-strokes forming on a piece of paper, or (colored) 3D point clouds that were obtained using a LiDAR scanner or RGB-D camera.