Deep residual neural network based PointNet for 3D object part segmentation

Point cloud segmentation is the premise and basis of many 3D perception tasks, such as intelligent driving, object detection and recognition, scene recognition and understanding. In this paper, we present an improved PointNet for 3D object part Segmentation, and named the proposed PointNet as Deep Residual Neural Network Based PointNet (DResNet-PointNet). The architecture of DResNet- PointNet was desigined based on the idea of residual networks. Residual networks can increase the depth of the DResNet-PointNet without network degradation. The depth of DResNet-PointNet is twice as deep as that of original PointNet model. Increasing the depth of DResNet-PointNet can improve its ability to express complex functions and generalization ability of complex classification problems, and achieve better approximation of complex functions, thus improving the accuracy of segmentation. The experimental results of part segmentation verify the feasibility and effectiveness of DResNet-PointNet.