Point-Cloud Semantic Segmentation Network Considering Normals

Pengfei Shang; Yi Chen; Weijia Lv; Fang Zheng; Jielong Wang

doi:10.3788/LOP202259.1610011

Laser & Optoelectronics Progress, Volume. 59, Issue 16, 1610011(2022)

Point-Cloud Semantic Segmentation Network Considering Normals

Pengfei Shang^1,2, Yi Chen^1,2、*, Weijia Lv^1,2, Fang Zheng^1,2, and Jielong Wang^1,2

Author Affiliations

¹College of Surveying and Geo-Informatics, Tongji Univesity, Shanghai 200092, China

²Key Laboratory of Modern Engineering Surveying of National Administration of Surveying, Mapping and Geoinformation, Shanghai 200092, China

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Figures & Tables(12)

Fig. 1. Framework of PointNet (vanilla)

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Fig. 2. Framework of PPCAN (modified from Ref. [7])

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Fig. 3. Comparison of accuracy in training epoch

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Fig. 4. Semantic segmentation results of column. (a) PointNet; (b) PPCAN; (c) ground truth

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Fig. 5. Semantic segmentation results of sofa. (a) PointNet; (b) PPCAN; (c) ground truth

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Fig. 6. Increment of IoU and accuracy of PPACAN compared with PointNet

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Fig. 7. Semantic segmentation results of board. (a) PointNet; (b) PPCAN; (c) ground truth

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Fig. 8. Results of 8 times predication on both PointNet and PPCAN. (a) PointNet; (b) PPCAN

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Fig. 9. Error characteristics of IoU with PPCAN. (a) Range; (b) standard deviation

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Table 1. Results of semantic segmentation on S3DIS
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Table 1. Results of semantic segmentation on S3DIS
Model OA MA mIoU
PointNet 82.9 67.4 57.1
PPCAN 85.2 74.5 61.0

Table 2. Comparison of accuracy among 13 classes
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Table 2. Comparison of accuracy among 13 classes
Model Ceiling Floor Wall Beam Column Window Door Table Chair Sofa Bookcase Board Clutter
PointNet 96.1 98.5 89.2 55.8 23.5 65.8 90.6 76.6 66.4 20.1 64.1 65.3 64.1
PPCAN 97.8 97.7 87.3 71.1 65.7 86.3 83.6 79.4 67.4 65.7 70.2 27.4 70.0

Table 3. Comparison of IoU among 13 classes
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Table 3. Comparison of IoU among 13 classes
Model Ceiling Floor Wall Beam Column Window Door Table Chair Sofa Bookcase Board Clutter
PointNet 91.6 96.0 69.1 47.5 22.4 61.2 70.0 64.0 55.9 10.3 48.9 55.3 50.7
PPCAN 93.9 97.0 73.7 62.8 47.4 57.3 69.5 67.5 58.2 30.1 53.2 26.6 55.3

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Pengfei Shang, Yi Chen, Weijia Lv, Fang Zheng, Jielong Wang. Point-Cloud Semantic Segmentation Network Considering Normals[J]. Laser & Optoelectronics Progress, 2022, 59(16): 1610011

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