Boundary–Inner Disentanglement Enhanced Learning for Point Cloud Semantic Segmentation

Abstract

In a point cloud semantic segmentation task, misclassification usually appears on the semantic boundary. A few studies have taken the boundary into consideration, but they relied on complex modules for explicit boundary prediction, which greatly increased model complexity. It is challenging to improve the segmentation accuracy of points on the boundary without dependence on additional modules. For every boundary point, this paper divides its neighboring points into different collections, and then measures its entanglement with each collection. A comparison of the measurement results before and after utilizing boundary information in the semantic segmentation network showed that the boundary could enhance the disentanglement between the boundary point and its neighboring points in inner areas, thereby greatly improving the overall accuracy. Therefore, to improve the semantic segmentation accuracy of boundary points, a Boundary–Inner Disentanglement Enhanced Learning (BIDEL) framework with no need for additional modules and learning parameters is proposed, which can maximize feature distinction between the boundary point and its neighboring points in inner areas through a newly defined boundary loss function. Experiments with two classic baselines across three challenging datasets demonstrate the benefits of BIDEL for the semantic boundary. As a general framework, BIDEL can be easily adopted in many existing semantic segmentation networks.