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تسجيل مستخدم جديد(AF)2-S3Net: Attentive Feature Fusion with Adaptive Feature Selection for Sparse Semantic Segmentation Network
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Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental perception that provides semantic information of the scene. Recently, several methods have been introduced for 3D LiDAR semantic segmentation. While, they can lead to improved performance, they are either afflicted by high computational complexity, therefore are inefficient, or lack fine details of smaller instances. To alleviate this problem, we propose AF2-S3Net, an end-to-end encoder-decoder CNN network for 3D LiDAR semantic segmentation. We present a novel multi-branch attentive feature fusion module in the encoder and a unique adaptive feature selection module with feature map re-weighting in the decoder. Our AF2-S3Net fuses the voxel based learning and point-based learning into a single framework to effectively process the large 3D scene. Our experimental results show that the proposed method outperforms the state-of-the-art approaches on the large-scale SemanticKITTI benchmark, ranking 1st on the competitive public leaderboard competition upon publication.
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Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are introduced to
attempt LiDAR semantic segmentation task, such as projection-based (range-view or birds-eye-view), and voxel-based approaches. However, they either abandon the valuable 3D topology and geometric relations and suffer from information loss introduced in the projection process or are inefficient. Therefore, there is a need for accurate models capable of processing the 3D driving-scene point cloud in 3D space. In this paper, we propose S3Net, a novel convolutional neural network for LiDAR point cloud semantic segmentation. It adopts an encoder-decoder backbone that consists of Sparse Intra-channel Attention Module (SIntraAM), and Sparse Inter-channel Attention Module (SInterAM) to emphasize the fine details of both within each feature map and among nearby feature maps. To extract the global contexts in deeper layers, we introduce Sparse Residual Tower based upon sparse convolution that suits varying sparsity of LiDAR point cloud. In addition, geo-aware anisotrophic loss is leveraged to emphasize the semantic boundaries and penalize the noise within each predicted regions, leading to a robust prediction. Our experimental results show that the proposed method leads to a large improvement (12%) compared to its baseline counterpart (MinkNet42 cite{choy20194d}) on SemanticKITTI cite{DBLP:conf/iccv/BehleyGMQBSG19} test set and achieves state-of-the-art mIoU accuracy of semantic segmentation approaches.
Scene depth information can help visual information for more accurate semantic segmentation. However, how to effectively integrate multi-modality information into representative features is still an open problem. Most of the existing work uses DCNNs
to implicitly fuse multi-modality information. But as the network deepens, some critical distinguishing features may be lost, which reduces the segmentation performance. This work proposes a unified and efficient feature selectionand-fusion network (FSFNet), which contains a symmetric cross-modality residual fusion module used for explicit fusion of multi-modality information. Besides, the network includes a detailed feature propagation module, which is used to maintain low-level detailed information during the forward process of the network. Compared with the state-of-the-art methods, experimental evaluations demonstrate that the proposed model achieves competitive performance on two public datasets.
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