3D Point Cloud Segmentation Algorithm of Air Conditioner Radiator V-slots Based on Improved PointNet
The research on the semantic segmentation of the V-shaped groove of the air conditioner radiator based on the PointNet network was studied to address the problem of inaccurate recognition of the V-shaped groove position during the automatic dispensing of the air conditioner radiator.Firstly,a method was designed to preprocess the point cloud edge region and the internal region of the point cloud separately by extracting the point cloud edge to highlight the feature of the point cloud edge region,due to the problem of similar features between the V-shaped groove area and the internal area of the radiator point cloud.Secondly,the average pooling function was introduced on the basis of the maximum pooling function of the PointNet network to increase the feature information of the global feature extracted by the network,reduce the information loss caused by the maximum pooling,and remove the T-Net transformation network to reduce the complexity of the network.The air conditioner radiator samples were collected from the laboratory platform for experiments.The results show that the average intersection over union(mloU)of the improved algorithm reaches 78.17％,and the overall accuracy(OA)reaches 92.01％,which improved by 9.73％and 6.37％compared with PointNet,respectively,verifying the effectiveness of the algorithm.
air conditioner radiatorpoint cloud simplificationPointNetsemantic segment
万方数据
维普
