SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation  

作　　者：Suyi Liu Jianning Chi Chengdong Wu Fang Xu Xiaosheng Yu 

机构地区：[1]Faculty of Robot Science and Engineering,Northeastern University,Shenyang,110167,China [2]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016,China [3]Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang,110169,China [4]SIASUN Robot&Automation Co.,Ltd.,Shenyang,110169,China

出　　处：《Computers, Materials & Continua》2024年第6期4471-4489,共19页计算机、材料和连续体（英文）

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.U20A20197,62306187;the Foundation of Ministry of Industry and Information Technology TC220H05X-04.

摘　　要：In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently sparse.Therefore,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud space.Most current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation tasks.In this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range dependency.Specifically,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive field.In addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is effective.We demonstrate the validity and superiority of our method on the S3DIS and ShapeNet datasets.Through ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.

关 键 词：3D point cloud semantic segmentation long-range contexts global-local feature graph convolutional network dense-sparse sampling strategy 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]