Point cloud feature extraction method based on spatial attention mechanism

• Main Authors: LI XUANYI, CHENG MINGMING, CHEN LINZHUO
• Format: Patent
• Language: Chinese; English
• Published: 16.07.2019
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS

The invention discloses a point cloud feature extraction method based on a spatial attention mechanism. The method comprises the following steps of: a, point cloud preprocessing: performing downsampling by utilizing a farthest point sampling algorithm; b, point cloud data set expansion: increasing the number of the point cloud training data sets by adding disturbance and random rotation, wherein point cloud data enhancement is not needed in the reasoning stage; c, point cloud feature acquisition: utilizing a double-flow network idea and one neural network branch to extract point cloud spatialfeatures, and using the other neural network branch to extract semantic features of point cloud overall information; and d, fusing semantic information of the two point cloud feature extraction networks layer by layer to obtain a feature vector of each point cloud. And e, after the point cloud features are obtained, performing further feature extraction on each point by utilizing a local space attention module, and finall