POINT CLOUD SEGMENTATION METHOD, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER DEVICE

摘要

Disclosed are a point cloud segmentation method, a computer-readable storage medium and a computer device. The method comprises: encoding a point cloud to be processed to obtain a shared feature (S202), the shared feature referring to a feature shared at a semantic level and an instance level; decoding the shared feature according to different decoding modes to respectively obtain a semantic feature and an instance feature (S204); adapting the semantic feature to an instance feature space and then fusing same with the instance feature to obtain a semantic fused instance feature of the point cloud, the semantic fused instance feature representing an instance feature fused with a semantic feature (S206); dividing the semantic fused instance feature of the point cloud to obtain a semantic fused instance feature of each point in the point cloud (S208); and determining, according to the semantic fused instance feature of each point, an instance category to which each point belongs (210). By means of the method, the efficiency of point cloud segmentation is improved.