3D Point Cloud Instance Segmentation Considering Global Shape Contour Constraints

Abstract

Aiming to solve the problem that spatially distributed similar instances cannot be distinguished in 3D point cloud instance segmentation, a 3D point cloud instance segmentation network, considering the global shape contour, was proposed. This research used the global-to-local design idea and added the global shape constraint to solve this problem. A Transformer module (Global Shape Attention, GSA) that can capture the shape contour information of the instance in the scene was designed. This module encoded the shape contour information into the Transformer structure as a Key-Value and extracted the instance fused with the global shape contour features, for instance, segmentation. At the same time, the network directly predicted the instance mask in an end-to-end mode, avoiding heavy post-processing algorithms. Many experiments have been conducted on the S3DIS, ScanNet, and STPL3D datasets, and our experimental results showed that our proposed network can efficiently capture the shape contour information of scene instances and can help to alleviate the problem of the difficulty distinguishing between spatially distributed similar instances in a scene, improving the efficiency and stability of instance segmentation.

Keywords

• 3D point cloud
• Transformer
• instance segmentation
• shape contour