National Key R&D Program of China [2021YFB3202200]
机构署名：
本校为其他机构
院系归属：
电气工程学院
摘要：
Semantic segmentation of point clouds scanned by LiDAR is one of the means for robots to perceive the environment autonomously. Aiming at the sparse and unstructured characteristics of LiDAR point clouds, we use the spherical projection formula to project LiDAR point clouds to a dense range image. A 2D convolutional neural network based on the encoder-decoder structure is used to perform semantic segmentation on the range image. After segmentation on the range image, we re-project the semantic result of the range image to the LiDAR point clouds using a kNN method. To extract the context featur...
