浏览全部资源
扫码关注微信
Received：14 July 2020，
Revised：2020-8-12，
Accepted：19 August 2020，
Published：16 May 2021
移动端阅览
目的
2
当前的大场景3维点云语义分割方法一般是将大规模点云切成点云块再进行处理。然而在实际计算过程中，切割边界的几何特征容易被破坏，使得分割结果呈现明显的边界现象。因此，迫切需要以原始点云作为输入的高效深度学习网络模型，用于点云的语义分割。
方法
2
为了解决该问题，提出基于多特征融合与残差优化的点云语义分割方法。网络通过一个多特征提取模块来提取每个点的几何结构特征以及语义特征，通过对特征的加权获取特征集合。在此基础上，引入注意力机制优化特征集合，构建特征聚合模块，聚合点云中最具辨别力的特征。最后在特征聚合模块中添加残差块，优化网络训练。最终网络的输出是每个点在数据集中各个类别的置信度。
结果
2
本文提出的残差网络模型在S3DIS（Stanford Large-scale 3D Indoor Spaces Dataset）与户外场景点云分割数据集Semantic3D等2个数据集上与当前的主流算法进行了分割精度的对比。在S3DIS数据集中，本文算法在全局准确率以及平均准确率上均取得了较高精度，分别为87.2%，81.7%。在Semantic3D数据集上，本文算法在全局准确率和平均交并比上均取得了较高精度，分别为93.5%，74.0%，比GACNet（graph attention convolution network）分别高1.6%，3.2%。
结论
2
实验结果验证了本文提出的残差优化网络在大规模点云语义分割的应用中，可以缓解深层次特征提取过程中梯度消失和网络过拟合现象并保持良好的分割性能。
Objective
2
The semantic segmentation of 3D point cloud is to take the point cloud as input and output the semantic label of each point according to the category. However
the existing semantic segmentation methods based on 3D point cloud are mainly limited to processing on small-scale point cloud blocks. When a large-scale point cloud is cut into small point clouds
the geometric features of the cut boundary can be easily destroyed
which results in obvious boundary phenomena. In addition
traditional semantic segmentation deep networks have difficult in meeting the computational efficiency requirements of large-scale data. Therefore
an efficient deep learning network model that directly takes the original point cloud as input for point cloud semantic segmentation is urgently needed. However
most networks still choose to input small point cloud blocks for training
mainly because there are many difficulties in directly handling point clouds in large scenes. The first is that the spatial size and number of points of the 3D point cloud data collected through sensor scanning are uncertain. This requires that the network does not have a specific number of input points and is not sensitive to the number of points. Second
the geometric structure of large scenes is more complicated than that of small-scale point cloud blocks
which increases the difficulty of segmentation. The third is that the direct processing of point clouds in large scenes will bring a lot of calculations
which poses a huge challenge to existing graphics processing unit(GPU) memory. The main obstacle to be overcome by our framework is to directly deal with large-scale 3D point clouds. For different point cloud spatial structures and points
they can be directly input into the network for training under the condition of ensuring time complexity and space complexity.
Method
2
In this study
a residual optimization network based on large-scale point cloud semantic segmentation is proposed. First
we choose random sampling as the down-sampling strategy
and its calculation time is independent of the number of points. Each coding layer has a random sampling module. This design makes it possible to gradually increase the dimension of each point feature while gradually reducing the size of the point cloud. The input to the network is the entire large-scale 3D point cloud scene. At the same time
a local feature extraction module is designed to capture the neighbor feature
geometric feature
and semantic feature of each point. The final feature set is obtained by weighted summation of the three types of features. The network introduces an attention mechanism to optimize the feature set
thereby further building a feature aggregation module to aggregate the most discriminative features in the point cloud. Finally
the residual block is added in the feature aggregation module to optimize the training of the network. The network adopts the encoder-decoder structure to realize the construction of the network framework. Different from the traditional encoder-decoder structure
this study adjusts the internal structure of each layer of the encoder for the special application scenario of large scene point cloud
including the down-sampling ratio of point cloud and the dimension of feature output. The output of the network is the score of each point in each category in the dataset. In summary
the network first passes the input point cloud through the multilayer perceptron(MLP) layer to extract the features of center point. Then
five encoding and five decoding layers are used to learn the features of each point. Finally
three fully connected layers are used to predict the semantic label of each point.
Result
2
The experiment was compared with the latest methods on two datasets
including Stanford large-scale 3D Indoor Spaces Dataset(S3DIS) dataset and Semantic3D dataset. The S3DIS dataset contains 12 semantic elements
which is more fine-grained and challenging than multiple semantic indoor segmentation datasets. Four criteria such as intersection over union (IoU)
mean IoU (mIoU)
mean accuracy (mAcc)
and overall accuracy (OA) were evaluated. We set the
k
value of the
k
-nearest neighbor algorithm to 16. The batch number for training is 8
and the batch number for evaluation is 24. The number of training and verification steps for each epoch is 500 and 100
respectively. The maximum epoch during testing is 150. The experiment was conducted using a NVIDIA GTX 1080 Ti GPU. On the S3DIS dataset
our algorithm achieves the best accuracy in OA and mAcc. Compared with the super point graphs (SPG) network that also takes the entire large scene as input
the proposed algorithm improves the OA
mAcc
and mIoU by 1.7%
8.7%
and 3.8%
respectively. The Semantic3D dataset contains eight semantic classes
covering a wide range of urban outdoor scenes: churches
streets
railroad tracks
squares
villages
football fields
castles
etc. There are about 4 billion manually marked points and various natural and artificial scenes to prevent overfitting of the classifier. We set the batch number for training to 4 and the batch number for evaluation to 16. Other settings are the same as S3DIS. On the Semantic3D dataset
the mIoU value is increased by 3.2%
and the OA is increased by 1.6% compared with the latest algorithm GACNet. Our network also achieved optimal accuracy in multiple categories such as high vegetation
buildings
and remaining hard landscapes. This verifies the outstanding performance of the residual optimization network proposed in large-scale point cloud semantic segmentation in this study
which solves the problem of gradient disappearance and network degradation in the process of feature extraction.
Conclusion
2
We propose a new semantic segmentation framework that introduces the residual network into the semantic segmentation of large-scale point clouds
thereby increasing the network layers and extracting more distinguishing features. Our network shows excellent performance in multiple datasets
making the semantic segmentation results more accurate.
Armeni I, Sener O, Zamir A R, Jiang H, Brilakis I, Fischer M and Savarese S. 2016. 3D semantic parsing of large-scale indoor spaces//Proceedings of 2016 IEEE Conference on Computer Vision and Pattern Recognition. Las Vegas, USA: IEEE: 1534-1543[ DOI: 10.1109/CVPR.2016.170 http://dx.doi.org/10.1109/CVPR.2016.170 ]
Biasutti P, Lepetit V, Aujol J F, Brédif M and Bugeau A. 2019. LU-Net: an efficient network for 3D LiDAR point cloud semantic segmentation based on end-to-end-learned 3D features and U-Net//Proceedings of 2019 IEEE/CVF International Conference on Computer Vision. Seoul, South Korea: IEEE: 942-950[ DOI: 10.1109/ICCVW.2019.00123 http://dx.doi.org/10.1109/ICCVW.2019.00123 ]
Boulch A, Le Saux B and Audebert N. 2017. Unstructured point cloud semantic labeling using deep segmentation networks. In: Eurographics Workshop on 3D Object Retrieval. [s. l.]: The Eurographics Association: 17-24[ DOI: 10.2312/3dor.20171047 http://dx.doi.org/10.2312/3dor.20171047 ]
Engelmann F, Kontogianni T, Hermans A and Leibe B. 2017. Exploring spatial context for 3D semantic segmentation of point clouds//Proceedings of 2019 IEEE International Conference on Computer Vision. Venice, Italy: TEEE: 716-724[ DOI: 10.1109/ICCVW.2017.90 http://dx.doi.org/10.1109/ICCVW.2017.90 ]
Hackel T, Savinov N, Ladicky L, Wegner J D, Schindler K and Pollefeys M. 2017. Semantic3D. Net: a new large-scale point cloud classification benchmark//ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Hannover, Germany: ISPRS: 91-98[ DOI: 10.5194/isprs-annals-Ⅳ-1-W1-91-2017 http://dx.doi.org/10.5194/isprs-annals-Ⅳ-1-W1-91-2017 ]
Hu Q Y, Yang B, Xie L H, Rosa S, Guo Y L, Wang Z H, Trigoni N and Markham A. 2020. RandLA-Net: efficient semantic segmentation of large-scale point clouds//Proceedings of 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Seattle, USA: IEEE: 11108-11117[ DOI: 10.1109/CVPR42600.2020.01112 http://dx.doi.org/10.1109/CVPR42600.2020.01112 ]
Huang Q G, Wang W Y and Neumann U. 2018. Recurrent slice networks for 3D segmentation of point clouds//Proceedings of 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Salt Lake City, USA: IEEE: 2626-2635[ DOI: 10.1109/CVPR.2018.00278 http://dx.doi.org/10.1109/CVPR.2018.00278 ]
Kong X, Zhai G Y, Zhong B Q, and Liu Y. 2019. PASS3D: precise and accelerated semantic segmentation for 3D point cloud//Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems. Macau, China: IEEE: 3467-3473[ DOI: 10.1109/IROS40897.2019.8968296 http://dx.doi.org/10.1109/IROS40897.2019.8968296 ]
Landrieu L, Simonovsky M. 2018. Large-scale point cloud semantic segmentation with superpoint graphs//Proceedings of 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Salt Lake City, USA: IEEE: 4558-4567[ DOI: 10.1109/CVPR.2018.00479 http://dx.doi.org/10.1109/CVPR.2018.00479 ]
Li Y Y, Bu R, Sun M C, Wu W, Di X H and Chen B Q. 2018. PointCNN: Convolution on X -transformed points//Proceedings of the 32nd International Conference on Neural Information Processing Systems. Montreal, Canada: Curran Associates Inc. : 820-830
Liu F Y, Li S P, Zhang L Q, Zhou C G, Ye R T, Wang Y B and Lu J W. 2017. 3DCNN-DQN-RNN: a deep reinforcement learning framework for semantic parsing of large-scale 3D point clouds//Proceedings of 2017 IEEE International Conference on Computer Vision. Venice, Italy: IEEE: 5679-5688[ DOI: 10.1109/ICCV.2017.605 http://dx.doi.org/10.1109/ICCV.2017.605 ]
Liu Y C, Fan B, Xiang S M and Pan C H. 2019. Relation-shape convolutional neural network for point cloud analysis//Proceedings of 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Los Angeles, USA: IEEE: 8887-8896[ DOI: 10.1109/CVPR.2019.00910 http://dx.doi.org/10.1109/CVPR.2019.00910 ]
Milioto A, Vizzo I, Behley J and Stachniss C. 2019. RangeNet++: fast and accurate LiDAR semantic segmentation//Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems. Macau, China: IEEE: 4213-4220[ DOI: 10.1109/IROS40897.2019.8967762 http://dx.doi.org/10.1109/IROS40897.2019.8967762 ]
Qi C R, Su H, Mo K and Guibas L J. 2017a. PointNet: deep learning on point sets for 3D classification and segmentation//Proceedings of 2017 IEEE Conference on Computer Vision and Pattern Recognition. Hawaii, USA: IEEE: 77-85[ DOI: 10.1109/CVPR.2017.16 http://dx.doi.org/10.1109/CVPR.2017.16 ]
Qi C R, Yi L, Su H and Guibas L J. 2017b. PointNet++: Deep hierarchical feature learning on point sets in a metric space//Proceedings of the 31st International Conference on Neural Information Processing Systems. Long Beach, USA: Curran Associates Inc. : 5099-5108
Qing C, Yu J, Xiao C B and Duan J. 2020. Deep convolutional neural network for semantic image segmentation. Journal of Image Graphics, 25(6): 1069-1090
青晨, 禹晶, 肖创柏, 段娟. 2020. 深度卷积神经网络图像语义分割研究进展. 中国图象图形学报, 25(6): 1069-1090 [DOI:10.11834/jig.190355]
Rethage D, Wald J, Sturm J, Navab N and Tombari F. 2018. Fully-convolutional point networks for large-scale point clouds//Proceedings of the 15th European Conference on Computer Vision. Munich, Germany: Springer: 625-640[ DOI: 10.1007/978-3-030-01225-0_37 http://dx.doi.org/10.1007/978-3-030-01225-0_37 ]
Tang Y J. 2019. 3D Point Clouds Semantic Segmentation in Large Scale Outdoor Scenes. Dalian: Dalian University of Technology
汤怡君. 2019. 大范围室外场景三维点云语义分割. 大连: 大连理工大学
Tchapmi L, Choy C, Armeni I, Gwak J Y and Savarese S. 2017. SEGCloud: semantic segmentation of 3D point clouds//Proceedings of 2017 International Conference on 3D Vision. Qingdao, China: IEEE: 537-547[ DOI: 10.1109/3DV.2017.00067 http://dx.doi.org/10.1109/3DV.2017.00067 ]
Thomas H, Goulette F, Deschaud J E, Marcotegui B and LeGall Y. 2018. Semantic classification of 3D point clouds with multiscale spherical neighborhoods//Proceedings of 2018 International Conference on 3D Vision. Verona, Italy: IEEE: 390-398[ DOI: 10.1109/3DV.2018.00052 http://dx.doi.org/10.1109/3DV.2018.00052 ]
Thomas H, Qi C R, Jean-Emmanuel D, Marcotegui B, Goulette F and Guibas L J. 2019. KPConv: flexible and deformable convolution for point clouds//Proceedings of 2019 IEEE/CVF Conference on Computer Vision. Seoul, South Korea: IEEE: 6410-6419[ DOI: 10.1109/ICCV.2019.00651 http://dx.doi.org/10.1109/ICCV.2019.00651 ]
Wang F. 2019. Real-time Semantic Segmentation of Laser Point Clouds in Large-scale Outdoor Scenes. Dalian: Dalian University of Technology
王非. 2019. 面向大范围室外场景的激光点云实时语义分割. 大连: 大连理工大学
Wang L, Huang Y C, Hou Y L, Zhang S M and Shan J. 2019a. Graph attention convolution for point cloud semantic segmentation//Proceedings of 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Los Angeles, USA: IEEE: 10288-10297[ DOI: 10.1109/CVPR.2019.01054 http://dx.doi.org/10.1109/CVPR.2019.01054 ]
Wang Y, Sun Y B, Liu Z W, Sarma S E, Bronstein M M and Solomon J M. 2019b. Dynamic graph CNN for learning on point clouds. ACM Transactions on Graphics, 38(5): 146[DOI:10.1145/3326362]
Wu W X, Qi Z G and Li F X. 2019. PointConv: deep convolutional networks on 3D point clouds//Proceedings of 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Long Beach, USA: IEEE: 9621-9630[ DOI: 10.1109/CVPR.2019.00985 http://dx.doi.org/10.1109/CVPR.2019.00985 ]
Xu Q G, Sun X D, Wu C Y, Wang P Q and Neumann U. 2020. Grid-GCN for fast and scalable point cloud learning//Proceedings of 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Seattle, USA: IEEE: 5660-5669[ DOI: 10.1109/CVPR42600.2020.00570 http://dx.doi.org/10.1109/CVPR42600.2020.00570 ]
Ye X Q, Li J M, Huang H X, Du L and Zhang X L. 2018. 3D recurrent neural networks with context fusion for point cloud semantic segmentation//Proceedings of the 15th European Conference on Computer Vision. Munich, Germany: Springer: 415-430[ DOI: 10.1007/978-3-030-01234-2_25 http://dx.doi.org/10.1007/978-3-030-01234-2_25 ]
Zhang Z Y, Hua B S and Yeung S K. 2019. ShellNet: efficient point cloud convolutional neural networks using concentric shells statistics//Proceedings of 2019 IEEE/CVF International Conference on Computer Vision. Seoul, South Korea: IEEE: 1607-1616[ DOI: 10.1109/ICCV.2019.00169 http://dx.doi.org/10.1109/ICCV.2019.00169 ]
Zhao H S, Jiang L, Fu C W and Jia J Y. 2019. PointWeb: enhancing local neighborhood features for point cloud processing//Proceedings of 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition. Long Beach, USA: IEEE: 5560-5568[ DOI: 10.1109/CVPR.2019.00571 http://dx.doi.org/10.1109/CVPR.2019.00571 ]
Zhong Z B, Zhang C, Liu Y H and Wu Y. 2019. VIASEG: visual information assisted lightweight point cloud segmentation//Proceedings of 2019 IEEE International Conference on Image Processing. Taipei, China:IEEE: 1500-1504[ DOI: 10.1109/ICIP.2019.8803061 http://dx.doi.org/10.1109/ICIP.2019.8803061 ]
相关文章
相关作者
相关机构
京公网安备11010802024621
