Multi-Scale Neighborhood Feature Extraction and Aggregation for Point Cloud Segmentation

Abstract

Learning and extracting high-level features from point cloud is the key to improving the segmentation performances on point clouds for many networks. At present, many networks present very deep structures to extract high-level features for 3D perception. However, we argue that even better results can be achieved by (i) building feature vectors that integrates multi-scale geometric features, and (ii) exerting discriminative constraints on the learning of mid-levels features. In this paper, we propose a Multi-scale Neighborhood Feature Extraction and Aggregation Model (MNFEAM) to enhance feature extraction for point cloud learning. We try to first extract multi-scale neighborhood information for each input point and then aggregate local information of a mid-level locality feature space, and finally integrate the aggregated local and the global feature vectors. A new discriminative loss function is designed to strengthen the coarse semantics on mid-levels features so that the semantic abstraction process can be improved and accelerated. We improve the performances of three popular networks for point cloud segmentation using the proposed MNFEAM on standard 3D datasets.