Gespeichert in:
| Hauptverfasser: | , , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2510.10471 |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866908670573412352 |
|---|---|
| author | Chen, Chuang Lin, Yi Wang, Bo Hu, Jing Wu, Xi Ge, Wenyi |
| author_facet | Chen, Chuang Lin, Yi Wang, Bo Hu, Jing Wu, Xi Ge, Wenyi |
| contents | Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting structured semantic information remains a significant challenge. In recent years, numerous pseudo-image-based representation methods have emerged to balance efficiency and performance by fusing 3D point clouds with 2D grids. However, the fundamental inconsistency between the pseudo-image representation and the original 3D information critically undermines 2D-3D feature fusion, posing a primary obstacle for coherent information fusion and leading to poor feature discriminability. This work proposes DAGLFNet, a pseudo-image-based semantic segmentation framework designed to extract discriminative features. It incorporates three key components: first, a Global-Local Feature Fusion Encoding (GL-FFE) module to enhance intra-set local feature correlation and capture global contextual information; second, a Multi-Branch Feature Extraction (MB-FE) network to capture richer neighborhood information and improve the discriminability of contour features; and third, a Feature Fusion via Deep Feature-guided Attention (FFDFA) mechanism to refine cross-channel feature fusion precision. Experimental evaluations demonstrate that DAGLFNet achieves mean Intersection-over-Union (mIoU) scores of 69.9% and 78.7% on the validation sets of SemanticKITTI and nuScenes, respectively. The method achieves an excellent balance between accuracy and efficiency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_10471 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DAGLFNet: Deep Feature Attention Guided Global and Local Feature Fusion for Pseudo-Image Point Cloud Segmentation Chen, Chuang Lin, Yi Wang, Bo Hu, Jing Wu, Xi Ge, Wenyi Computer Vision and Pattern Recognition Machine Learning Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting structured semantic information remains a significant challenge. In recent years, numerous pseudo-image-based representation methods have emerged to balance efficiency and performance by fusing 3D point clouds with 2D grids. However, the fundamental inconsistency between the pseudo-image representation and the original 3D information critically undermines 2D-3D feature fusion, posing a primary obstacle for coherent information fusion and leading to poor feature discriminability. This work proposes DAGLFNet, a pseudo-image-based semantic segmentation framework designed to extract discriminative features. It incorporates three key components: first, a Global-Local Feature Fusion Encoding (GL-FFE) module to enhance intra-set local feature correlation and capture global contextual information; second, a Multi-Branch Feature Extraction (MB-FE) network to capture richer neighborhood information and improve the discriminability of contour features; and third, a Feature Fusion via Deep Feature-guided Attention (FFDFA) mechanism to refine cross-channel feature fusion precision. Experimental evaluations demonstrate that DAGLFNet achieves mean Intersection-over-Union (mIoU) scores of 69.9% and 78.7% on the validation sets of SemanticKITTI and nuScenes, respectively. The method achieves an excellent balance between accuracy and efficiency. |
| title | DAGLFNet: Deep Feature Attention Guided Global and Local Feature Fusion for Pseudo-Image Point Cloud Segmentation |
| topic | Computer Vision and Pattern Recognition Machine Learning |
| url | https://arxiv.org/abs/2510.10471 |