Feature fusion network based on attention mechanism for 3D semantic segmentation of point clouds

Abstract

3D scene parsing has always been a hot topic and point clouds are efficient data format to represent scenes. The semantic segmentation of point clouds is critical to the 3D scene, which is a challenging problem due to the unordered structure of point clouds. The max-pooling operation is typically used to obtain the order invariant features, while the point-wise features are destroyed after the max-pooling operation. In this paper, we propose a feature fusion network that fuses point-wise features and local features by attention mechanism to compensate for the loss caused by max-pooling operation. By incorporating point-wise features into local features, the point-wise variation is preserved to obtain a refined segmentation accuracy, and the attention mechanism is used to measure the importance of the point-wise features and local features for each 3D point. Extensive experiments show that our method achieves better performances than other prestigious methods.