POIRot: A rotation invariant omni-directional pointnet. Yang, L., Chakraborty, R., & Yu, S. X arXiv preprint arXiv:1910.13050, 2019.
bibtex   
@article{yang2019poirot,
  title={POIRot: A rotation invariant omni-directional pointnet},
  author={Yang, Liu and Chakraborty, Rudrasis and Yu, Stella X},
  journal={arXiv preprint arXiv:1910.13050},
  year={2019}
}

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