Point cloud segmentation algorithm based on deep learning can effectively segment point clouds in high-dimensional space by designing complex feature extraction modules.However,the lack of feature mining for boundary point set results in suboptimal accuracy in boundary segmentation.Some studies have applied the idea of contrastive learning to point cloud segmentation to solve the problem of insufficient boundary region segmentation performance,but the disorder and sparse characteristics of point cloud have not been fully utilized,and the feature extraction is not accurate enough.To solve these problems,we propose CL2M to learn more accurate features of point clouds at different locations through the self-attention mechanism,and the contrastive learning method is introduced to improve the segmentation accuracy of point cloud boundaries.In the process of contrastive boundary learning,labels in semantic space are deeply mined and a contrastive boundary learning module based on label distribution is designed to make the label distribution of point cloud in high-dimensional space contain more semantic information.The model makes full use of the label distribution law to calculate the distance between distributions,and can accurately divide positive and negative samples,reducing the cumulative errors caused by conventional hard partition.The results on two public data sets show that CL2M is superior to the existing point cloud segmentation model on several evaluation indexes,which verifies the effectiveness of the model.
维普
万方数据