The invention provides a three-dimensional
point cloud segmentation method and
system based on bidirectional fusion of a
point cloud and an aerial view, and belongs to the technical field of three-dimensional scene environment
perception, and the method comprises the steps: obtaining to-be-segmented original
point cloud data;
processing the obtained original point
cloud data by using a pre-trained segmentation model to obtain a segmentation result; wherein the segmentation model comprises an
encoder module, a
backbone network and a fusion segmentation head. According to the method, a bidirectional
fusion mechanism of the point cloud and the aerial view is provided, through interactive fusion of the point cloud and the BEV features in
multiple stages, the expression ability of the model for local and global features is improved, the problems of fuzzy semantic boundary, difficulty in
small target recognition and the like are remarkably improved, and the segmentation precision is obviously superior to that of an existing BEV method. Compared with a
voxel method and a multi-representation fusion method, the method has the advantages that the weight of a calculation graph is kept light in structural design, compared with the
voxel method and the multi-representation fusion method, the method has remarkable advantages in the aspects of parameter quantity and reasoning speed, precision and real-time performance are better considered, and the method is suitable for scenes with extremely high efficiency requirements such as automatic driving.