论文标题
有效利用多个开源数据集来改善点云分割模型的概括性能
Effective Utilisation of Multiple Open-Source Datasets to Improve Generalisation Performance of Point Cloud Segmentation Models
论文作者
论文摘要
空中点云数据的语义分割可用于区分属于地面,建筑物或植被等类别的点。从安装到无人机或平面的空中传感器产生的点云可以利用激光传感器或摄像机以及摄影测量法。每种数据收集方法都包含独特的特征,可以通过最新的点云分割模型独立学习。在点云传感器,质量和结构可以改变的情况下,使用单点云分割模型可以是可取的。在这种情况下,希望分割模型可以通过可预测且一致的结果处理这些变化。尽管深度学习可以准确细分点云,但它通常会遭受概括,因此与训练数据不同的数据差异很差。为了解决此问题,我们建议利用多个可用的开源完全注释的数据集来训练和测试模型,以更好地概括。 在本文中,我们将这些数据集的组合与简单的培训集和具有挑战性的测试集进行了讨论。组合数据集使我们能够评估点云数据中已知变化的概括性能。我们表明,数据集的幼稚组合会产生一个模型,其概括性能提高了预期。我们继续表明,改进的采样策略可以减少采样变化,从而大大提高了总体化性能。实验发现哪种样品变化使这种性能提升发现一致的密度最重要。
Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise LIDAR sensors or cameras along with photogrammetry. Each method of data collection contains unique characteristics which can be learnt independently with state-of-the-art point cloud segmentation models. Utilising a single point cloud segmentation model can be desirable in situations where point cloud sensors, quality, and structures can change. In these situations it is desirable that the segmentation model can handle these variations with predictable and consistent results. Although deep learning can segment point clouds accurately it often suffers in generalisation, adapting poorly to data which is different than the training data. To address this issue, we propose to utilise multiple available open source fully annotated datasets to train and test models that are better able to generalise. In this paper we discuss the combination of these datasets into a simple training set and challenging test set. Combining datasets allows us to evaluate generalisation performance on known variations in the point cloud data. We show that a naive combination of datasets produces a model with improved generalisation performance as expected. We go on to show that an improved sampling strategy which decreases sampling variations increases the generalisation performance substantially on top of this. Experiments to find which sample variations give this performance boost found that consistent densities are the most important.