关键词: 点云分类, 位置自适应卷积, PointNet++, 深度学习, 局部特征 ,

Abstract: Aiming at the problem of low classification accuracy of point cloud data in complex scenes， a PointNet++ deep neural network model based on position adaptive convolution is proposed. Since adaptive position convolution has strong ability to capture fine-grained local features and can fully obtain the spatial variation and geometric structure feature information of three-dimensional point clouds， on the basis of PointNet++ network， the proposed method in this paper first obtains the key points through the farthest point sampling， and then uses the K nearest neighbor method to realize grouping according to the key points， and then using the adaptive position convolution replaces the MLP in the original method to extract the local features of each group， and finally completes the point cloud classification. The proposed method was compared on two public point cloud datasets S3DIS and Semantic3D. Experimental results show that the overall accuracy and mIoU of the proposed method on the indoor dataset S3DIS are about 2.7 percentage points and 3.2 percentage points higher than PointNet++ network， respectively， and the overall accuracy and mIoU of the outdoor dataset Semantic3D are about 2.5 percentage points and 2.1 percentage points higher than PointNet++.

Key words:  , point cloud classification, position adaptive convolution, PointNet++, deep learning, local feature