This invention discloses a
point cloud instance segmentation method and
system based on coarse-to-fine adaptive clustering. First, it acquires
LiDAR point cloud data of the target scene and obtains semantic segmentation labels using a semantic segmentation model, separating the
point cloud into background and foreground object classes. A multi-level bird's-eye view BEV
pyramid is constructed from coarse to
fine resolution. At each resolution level, the clustering
kernel size is adaptively adjusted based on the distance from the point cloud to the sensor for iterative clustering. Geometric center
estimation and bounding box detection based on symmetry completion are performed on the candidate instances obtained from clustering. Oversegmentation and undersegmentation of candidate instances are geometrically verified using
full coverage constraints and spatiotemporal
mutual exclusion constraints. Undersegmented instances are passed to the next higher resolution level for
processing, while oversegmented instances are fused. Finally, the background point cloud is combined to generate a panoramic segmentation result. This invention's method does not require additional training for instance segmentation, improving the accuracy and robustness of panoramic segmentation.