Semantic Segmentation of Large-Scale Outdoor Point Clouds by Encoder-Decoder Shared MLPs with Multiple Losses

Abstract

Semantic segmentation of large-scale outdoor 3D LiDAR point clouds becomes essential to understand the scene environment in various applications, such as geometry mapping, autonomous driving, and more. With an advantage of being a 3D metric space, 3D LiDAR point clouds, on the other hand, pose a challenge for a deep learning approach, due to their unstructured, unorder, irregular, and large-scale characteristics. Therefore, this paper presents an encoder-decoder shared multi-layer perceptron (MLP) with multiple losses, to address an issue of this semantic segmentation. The challenge rises a trade-off between efficiency and effectiveness in performance. To balance this trade-off, we proposed common mechanisms, which is simple and yet effective, by defining a random point sampling layer, an attention-based pooling layer, and a summation of multiple losses integrated with the encoder-decoder shared MLPs method for the large-scale outdoor point clouds semantic segmentation. We conducted our experiments on the following two large-scale benchmark datasets: Toronto-3D and DALES dataset. Our experimental results achieved an overall accuracy (OA) and a mean intersection over union (mIoU) of both the Toronto-3D dataset, with 83.60% and 71.03%, and the DALES dataset, with 76.43% and 59.52%, respectively. Additionally, our proposed method performed a few numbers of parameters of the model, and faster than PointNet++ by about three times during inferencing.