Point cloud segmentation method, computer program and computer equipment

摘要

The present invention provides a point cloud segmentation method, computer-readable storage medium and computer equipment.The above methodEncodes the point cloud to be processed.Obtaining a shared feature (S202);The shared feature isFeatures shared at the semantic level and the instance levelStep (S202) andDecoding the shared features in different decoding schemesObtaining semantic features and instance features (S204) andAfter the semantic feature is adapted to an instance feature space, it is fused with the instance feature;A semantic fusion instance characteristic of the point cloud is obtained (S206);The semantic fusion instance feature isRepresenting instance features fused with semantic featuresStep (S206) andSplit into semantic fusion instance features of the point cloudObtaining a semantic fusion instance feature for each point in the point cloud (S208);Based on the semantic fusion instance feature of each pointDetermining the instance category to which each point belongs belongs (S210);.The method improves the efficiency of point cloud segmentation.