PointNetPP

@article{qi2017pointnetpp,
  title={Pointnet++: Deep hierarchical feature learning on point sets in a metric space},
  author={Qi, Charles Ruizhongtai and Yi, Li and Su, Hao and Guibas, Leonidas J},
  journal={Advances in neural information processing systems},
  volume={30},
  year={2017}
}