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Learning Semantic Segmentation of Large-Scale Point Clouds With Random Sampling

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and operate over small-scale point clouds. In this paper, we introduce RandLA-Net , an efficient and lightweight neural architecture to directly infer per-point semantics for large-scale point clouds. The key to our approach is to use random point sampling instead of more complex point selection approaches. Although remarkably computation and memory efficient, random sampling can discard key features by chance. To overcome this, we introduce a novel local feature aggregation module to progressively increase the receptive field for each 3D point, thereby effectively preserving geometric details. Comparative experiments show that our RandLA-Net can process 1 million points in a single pass up to 200× faster than existing approaches. Moreover, extensive experiments on five large-scale point cloud datasets, including Semantic3D, SemanticKITTI, Toronto3D, NPM3D and S3DIS, demonstrate the state-of-the-art semantic segmentation performance of our RandLA-Net.

Ketersediaan

Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE; Vol.44 No.11 Part 2 November 2022

No. Panggil

-

Penerbit

: .,

Deskripsi Fisik

p. 8338-8354

Bahasa

English

ISBN/ISSN

-

Klasifikasi

NONE

Tipe Isi

-

Tipe Media

-

Tipe Pembawa

-

Edisi

-

Subjek

RANDOM SAMPLING
SEMANTIC SEGMENTATION
LARGE-SCALE POINT CLOUDS
LOCAL FEATURE AGGREGATION

Info Detail Spesifik

DOI: 10.1109/TPAMI.2021.3083288

Pernyataan Tanggungjawab

Qingyong Hu, Bo Yang, Linhai Xie, Stefano Rosa, Yulan Guo, Zhihua Wang, Niki Trigoni, Andrew Markham

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