Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs

Code

• github.com/loicland/superpoint_graph
  OfficialIn paperpytorch★ 0
• github.com/jsgaobiao/superpoint_graph
  pytorch★ 0

Abstract

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a structure called superpoint graph (SPG), derived from a partition of the scanned scene into geometrically homogeneous elements. SPGs offer a compact yet rich representation of contextual relationships between object parts, which is then exploited by a graph convolutional network. Our framework sets a new state of the art for segmenting outdoor LiDAR scans (+11.9 and +8.8 mIoU points for both Semantic3D test sets), as well as indoor scans (+12.4 mIoU points for the S3DIS dataset).

Tasks

Benchmark Results

Reproductions