arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2306.08073cs.CV

面向点云分割的动态聚类Transformer网络

Dynamic Clustering Transformer Network for Point Cloud Segmentation

University of Waterloo(滑铁卢大学)

Dening Lu, Jun Zhou, Kyle Yilin Gao, Dilong Li, Jing Du, Linlin Xu, Jonathan Li

AI总结:

针对现有点云分割层级方法忽略点簇语义同质性、FPS采样计算效率低的问题,提出融合动态语义采样聚类与语义引导上采样的DCTNet,在多数据集上实现精度与速度的SOTA表现。

摘要:

点云分割是计算机视觉中最重要的任务之一,在科研、工业和商业领域有着广泛应用,相关研究已在三维物体与场景理解方面取得诸多突破。现有方法通常采用层级架构进行特征表征,但层级网络中常用的采样与分组方法仅基于逐点三维坐标,忽略了点簇的局部语义同质性;此外,当前普遍使用的最远点采样(Farthest Point Sampling, FPS)方法往往是计算瓶颈。针对这些问题,我们提出一种新型三维点云表征网络——动态聚类Transformer网络(Dynamic Clustering Transformer Network, DCTNet),该网络采用编码器-解码器架构,可同时实现局部与全局特征学习。具体而言,我们在编码器中提出了基于语义特征的新型动态采样与聚类方法,使模型能够感知局部语义同质性,从而进行局部特征聚合;此外,在解码器中提出了一种高效的语义特征引导上采样方法。我们在基于物体的数据集ShapeNet、城市导航数据集Toronto-3D以及一个多光谱激光雷达数据集上对所提方法进行了评估,验证了DCTNet在各类实际工程应用中的性能。在ShapeNet数据集上,DCTNet的推理速度比现有最优(State-of-the-Art, SOTA)模型快3.8-16.8倍,同时达到86.6%的逐实例平均交并比(mIoU),为当前最高得分。在其他数据集上,我们的方法同样优于现有方法,证实其成为点云分割领域新的最优方法。

英文摘要:

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene understanding. Previous methods typically utilized hierarchical architectures for feature representation. However, the commonly used sampling and grouping methods in hierarchical networks are only based on point-wise three-dimensional coordinates, ignoring local semantic homogeneity of point clusters. Additionally, the prevalent Farthest Point Sampling (FPS) method is often a computational bottleneck. To address these issues, we propose a novel 3D point cloud representation network, called Dynamic Clustering Transformer Network (DCTNet). It has an encoder-decoder architecture, allowing for both local and global feature learning. Specifically, we propose novel semantic feature-based dynamic sampling and clustering methods in the encoder, which enables the model to be aware of local semantic homogeneity for local feature aggregation. Furthermore, in the decoder, we propose an efficient semantic feature-guided upsampling method. Our method was evaluated on an object-based dataset (ShapeNet), an urban navigation dataset (Toronto-3D), and a multispectral LiDAR dataset, verifying the performance of DCTNet across a wide variety of practical engineering applications. The inference speed of DCTNet is 3.8-16.8$\times$ faster than existing State-of-the-Art (SOTA) models on the ShapeNet dataset, while achieving an instance-wise mIoU of $86.6\%$, the current top score. Our method similarly outperforms previous methods on the other datasets, verifying it as the new State-of-the-Art in point cloud segmentation.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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