Semantic segmentation of bridge Point Cloud Data (PCD) is an intermediate process required for the tasks such as deformation detection and digital twin. However, existing methods either require a substantial amount of training data or exhibit limited generalization ability. To address these issues, this paper presents an unsupervised framework for semantic segmentation of bridge PCD. A visible point rendering method is first employed to bridge the modal gap between 2D and 3D, and then a self-prompting segmentation method based on a large computer vision model is introduced to achieve instance segmentation. Experiment results on the real-world reinforced concrete bridge dataset and suspension bridge dataset showed the proposed method achieved the outstanding performance on all overall evaluation metrics of overall accuracy (98.31 % and 98.10 %), mean precision (97.67 % and 93.96 %), mean recall rate (97.50 % and 97.51 %) and mean F1 score (97.46 % and 95.55 %). The comparisons with existing methods demonstrate that without the need of training data, our method can achieve competitive or even superior accuracy to learning-based methods.
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