| Autor: |
Yijian Duan, Danfeng Wu, Liwen Meng, Yanmei Meng, Jihong Zhu, Jinlai Zhang, Eksan Firkat, Hui Liu, Hejun Wei |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Heliyon, Vol 10, Iss 17, Pp e36814- (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2405-8440 |
| DOI: |
10.1016/j.heliyon.2024.e36814 |
| Popis: |
Point-cloud semantic segmentation is a visual task essential for agricultural robots to comprehend natural agroforestry environments. However, owing to the extremely large amount of point-cloud data in agroforestry environments, learning effective features for semantic segmentation from large-scale point clouds is challenging. Therefore, to address this issue and achieve accurate semantic segmentation of different types of road-surface point clouds in large-scale agroforestry environments, this study proposes a point-cloud semantic segmentation network framework based on double-distance self-attention. First, a point-cloud local feature enhancement module is proposed. This module primarily extends the receptive field and enhances the generalizability of multidimensional features by incorporating reflection intensity information and a spatial feature-encoding block that is enhanced with contextual semantic information. Second, we introduce a dual-distance attention pooling (DDAPS) block based on the self-attention mechanism. This block initially learns the feature representation of the local neighborhood of each point through the self-attention mechanism. Then, it uses the DDAPS block to aggregate more discriminative local neighborhood point features. Finally, extensive experimental results on large-scale point-cloud datasets, SemanticKITTI and RELLIS-3D, demonstrate that our algorithm outperforms similar algorithms in large-scale agroforestry environments. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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