ATSGPN: adaptive threshold instance segmentation network in 3D point cloud

Yu Sun; Zhicheng Wang; Jingjing Fei; Ling Chen; Gang Wei

doi:10.1117/12.2541582

14 February 2020 ATSGPN: adaptive threshold instance segmentation network in 3D point cloud

Yu Sun, Zhicheng Wang, Jingjing Fei, Ling Chen, Gang Wei

Proceedings Volume 11430, MIPPR 2019: Pattern Recognition and Computer Vision; 114301O (2020) https://doi.org/10.1117/12.2541582
Event: Eleventh International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2019), 2019, Wuhan, China

Abstract

We introduce an adaptive threshold instance segmentation network in point cloud based on similarity group proposal network(SGPN), named adaptive threshold similarity group proposal network(ATSGPN). SGPN learns the feature of point cloud to process similarity matrix and clusters. In our experiments, we find that we cannot always get the proper threshold by heuristic method to divide the points although the similarity matrix is good enough. Based on this idea, we introduce the Threshold Map to learn segmentation threshold. We also improve the feature extraction using edge convolution(EdgeConv). The point cloud first passes EdgeConv to extract features and learns the similarity matrix in feature space. The semantic label of each point and the segmentation threshold can help to generate groups and then calculates confidence to evaluate the group quality and backpropagation. ATSGPN has higher accuracy on Stanford Large- Scale 3D Indoor Spaces Dataset (S3SID) and fewer steps than SGPN, and there are some experiments can be shown in the paper for its good performance.

Citation Download Citation

Yu Sun, Zhicheng Wang, Jingjing Fei, Ling Chen, and Gang Wei "ATSGPN: adaptive threshold instance segmentation network in 3D point cloud", Proc. SPIE 11430, MIPPR 2019: Pattern Recognition and Computer Vision, 114301O (14 February 2020); https://doi.org/10.1117/12.2541582

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