3D Point Cloud Semantic Augmentation: Instance Segmentation of 360° Panoramas by Deep Learning Techniques

Abstract

Semantic augmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionised image segmentation and classification, its impact on point cloud is an active research field. In this paper, we propose an instance segmentation and augmentation of 3D point clouds using deep learning architectures. We show the potential of an indirect approach using 2D images and a Mask R-CNN (Region-Based Convolution Neural Network). Our method consists of four core steps. We first project the point cloud onto panoramic 2D images using three types of projections: spherical, cylindrical, and cubic. Next, we homogenise the resulting images to correct the artefacts and the empty pixels to be comparable to images available in common training libraries. These images are then used as input to the Mask R-CNN neural network, designed for 2D instance segmentation. Finally, the obtained predictions are reprojected to the point cloud to obtain the segmentation results. We link the results to a context-aware neural network to augment the semantics. Several tests were performed on different datasets to test the adequacy of the method and its potential for generalisation. The developed algorithm uses only the attributes X, Y, Z, and a projection centre (virtual camera) position as inputs.

Keywords

• 3D point cloud
• instance segmentation
• 3D projection
• panoramic image
• deep learning
• I point cloud semantics