PointLAE: A Point Cloud Semantic Segmentation Neural Network via Multifeature Aggregation for Large-Scale Application

Abstract

The fast semantic segmentation algorithm of 3D laser point clouds for large scenes is of great significance for mobile information measurement systems, but the point cloud data is complex and generates problems such as disorder, rotational invariance, sparsity, severe occlusion, and unstructured data. We address the above problems by proposing the random sampling feature aggregation module ATSE module, which solves the problem of effective aggregation of features at different scales, and a new semantic segmentation framework PointLAE, which effectively presegments point clouds and obtains good semantic segmentation results by neural network training based on the features aggregated by the above module. We validate the accuracy of the algorithm by training on Semantic3D, a public dataset of large outdoor scenes, with an accuracy of 90.3, while verifying the robustness of the algorithm on Mvf CNN datasets with different sparsity levels, with an accuracy of 86.2, and on Bjfumap data aggregated by our own mobile environmental information collection platform, with an accuracy of 77.4, demonstrating that the algorithm is good for mobile information complex scale data in mobile information collection with great recognition effect.