Xiaowen Yang, Aibing Wang, Xie Han, Rong Zhao, Yuxin Jin. Point Cloud Semantic Segmentation Based on KNN-PointNet[J]. Laser & Optoelectronics Progress, 2021, 58(24): 2410013
- Laser & Optoelectronics Progress
- Vol. 58, Issue 24, 2410013 (2021)
Fig. 1. Classification effect of points to be measured in local neighborhood
Fig. 2. local feature extraction process
Fig. 3. KNN-PointNet framework
Fig. 4. Segmentation results of improved KNN algorithm and KNN algorithm
Fig. 5. Visualization results of scene segmentation under different algorithms. (a) Original point cloud; (b) true segmentation; (c) PointNet; (d) PointNet++
Fig. 6. Visualization results of proposed algorithm
Fig. 7. Segmentation results under different k and r values
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Table 1. Performance comparison between improved KNN algorithm and other algorithms unit: %
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Table 2. IoU results of 13 semantic categories on S3DIS dataset for different networks unit: %
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