Multi-Feature Aggregation for Semantic Segmentation of an Urban Scene Point Cloud

Abstract

With the rapid development of cities, semantic segmentation of urban scenes, as an important and effective imaging method, can accurately obtain the distribution information of typical urban ground features, reflecting the development scale and the level of greenery in the cities. There are some challenging problems in the semantic segmentation of point clouds in urban scenes, including different scales, imbalanced class distribution, and missing data caused by occlusion. Based on the point cloud semantic segmentation network RandLA-Net, we propose the semantic segmentation networks RandLA-Net++ and RandLA-Net3+. The RandLA-Net++ network is a deep fusion of the shallow and deep features of the point clouds, and a series of nested dense skip connections is used between the encoder and decoder. RandLA-Net3+ is based on the multi-scale connection between the encoder and decoder; it also connects internally within the decoder to capture fine-grained details and coarse-grained semantic information at a full scale. We also propose incorporating dilated convolution to increase the receptive field and compare the improvement effect of different loss functions on sample class imbalance. After verification and analysis of our labeled urban scene LiDAR point cloud dataset—called NJSeg-3D—the mIoU of the RandLA-Net++ and RandLA-Net3+ networks is 3.4% and 3.2% higher, respectively, than the benchmark network RandLA-Net.