The invention discloses a semantic and structure preserving-based
point cloud adaptive downsampling method and device, and belongs to the field of
computer point cloud analysis and
feature learning. Firstly,
point cloud features are extracted, a local neighborhood is constructed, and semantic features and space coordinates of all points are obtained; counting the number of times of selection of the feature channels in the neighborhood based on maximum
pooling, and obtaining a local importance
score through normalization; through cross-neighborhood aggregation and in combination with spatial distance attenuation weight,
geometric consistency is enhanced, and a global importance
score is generated; a lightweight multi-layer
perceptron is used for fusing semantic and spatial features to predict a comprehensive importance
score, and key points are selected according to the score to form a down-sampling subset; and finally, a teacher-student self-
supervised training framework is adopted, and a high-confidence-coefficient pseudo tag is generated through a teacher
branch to guide student
branch parameter optimization, so that efficient reasoning is realized. According to the method, the
semantic information and the geometric structure of the
point cloud can be effectively kept while the data volume is remarkably reduced.