We present a convolutional network that is equivariant to rigid body motions. The model uses scalar-, vector-, and tensor fields over 3D Euclidean space to represent data, and equivariant convolutions to map between such representations. These SE(3)-equivariant convolutions utilize kernels which are parameterized as a linear combination of a complete steerable kernel basis, which is derived in this paper. We prove that equivariant convolutions are the most general equivariant linear maps between fields over R^3 . Our experimental results confirm the effectiveness of 3D Steerable CNNs for the problem of amino acid environment prediction and protein structure classification, both of which have inherent SE(3) symmetry.
The two dimensional analog of our work is the @math equivariant harmonic network @cite_5 . The harmonic network and 3D steerable CNN use features that transform under irreducible representations of @math resp. @math , and use filters related to the circular resp. spherical harmonics.
@cite_5
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Translating or rotating an input image should not affect the results of many computer vision tasks. Convolutional neural networks (CNNs) are already translation equivariant: input image translations produce proportionate feature map translations. This is not the case for rotations. Global rotation equivariance is typically sought through data augmentation, but patch-wise equivariance is more difficult. We present Harmonic Networks or H-Nets, a CNN exhibiting equivariance to patch-wise translation and 360-rotation. We achieve this by replacing regular CNN filters with circular harmonics, returning a maximal response and orientation for every receptive field patch. H-Nets use a rich, parameter-efficient and fixed computational complexity representation, and we show that deep feature maps within the network encode complicated rotational invariants. We demonstrate that our layers are general enough to be used in conjunction with the latest architectures and techniques, such as deep supervision and batch normalization. We also achieve state-of-the-art classification on rotated-MNIST, and competitive results on other benchmark challenges.