论文标题
基于投影的点卷积用于有效的点云分段
Projection-based Point Convolution for Efficient Point Cloud Segmentation
论文作者
论文摘要
在开发3D扫描设备和大规模3D数据的积累之后,了解点云最近引起了巨大的兴趣。大多数点云处理算法可以分类为基于点或基于体素的方法,它们在处理时间或内存中都有严重的限制,或两者兼有。为了克服这些局限性,我们提出了基于投影的点卷积(PPCONV),该点卷积是一种使用2D卷积和多层感知器(MLP)作为其组件的点卷积模块。在PPCONV中,点特征通过两个分支处理:点分支和投影分支。点分支由MLP组成,而投影分支将点特征转换为2D特征图,然后应用2D卷积。由于PPCONV不使用基于点或基于体素的卷积,因此它在快速点云处理中具有优势。当与可学习的投影和有效的特征融合策略结合使用时,即使使用基于PointNet ++的简单体系结构,PPCONV也可以提高效率。我们证明了PPCONV在推理时间和细分性能之间的权衡方面的效率。 S3DIS和ShapenetPart的实验结果表明,PPCONV是比较方法中最有效的方法。该代码可在github.com/pahn04/ppconv上找到。
Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or voxel-based methods, both of which have severe limitations in processing time or memory, or both. To overcome these limitations, we propose Projection-based Point Convolution (PPConv), a point convolutional module that uses 2D convolutions and multi-layer perceptrons (MLPs) as its components. In PPConv, point features are processed through two branches: point branch and projection branch. Point branch consists of MLPs, while projection branch transforms point features into a 2D feature map and then apply 2D convolutions. As PPConv does not use point-based or voxel-based convolutions, it has advantages in fast point cloud processing. When combined with a learnable projection and effective feature fusion strategy, PPConv achieves superior efficiency compared to state-of-the-art methods, even with a simple architecture based on PointNet++. We demonstrate the efficiency of PPConv in terms of the trade-off between inference time and segmentation performance. The experimental results on S3DIS and ShapeNetPart show that PPConv is the most efficient method among the compared ones. The code is available at github.com/pahn04/PPConv.