Fig. 3

Illustration of the augmentation operations applied to a 3D point cloud scene. a Original scene. b Color augmentations applied to the original scene. Color augmentations include modifying the brightness and intensity of the sound sources as well as distort the color of each point using Gaussian noise. c Coordinate augmentations applied to the original scene. Coordinate augmentations include random shearing along all axes and random translation along the stature direction