The invention belongs to the field of
robot control, and provides a multi-view
feature fusion operable part semantic segmentation method and
system, and the method comprises the steps: obtaining the
point cloud data of an operable part, and generating a corresponding multi-view image; carrying out target detection, extracting features for each
view angle, and obtaining a two-dimensional bounding box and a semantic tag; based on the extracted two-dimensional bounding box,
processing by using SAM to obtain a foreground
mask; on the basis of the extracted two-dimensional bounding box, the relevance of the same semantic target under different visual angles is captured on the global scale by using the constructed global
visual angle interaction module, and the feature consistency is enhanced; and
processing the fused bounding box features obtained by the global
view angle interaction module by using a
weight prediction network, predicting the response weight of each bounding box at each super point, combining the obtained foreground
mask and the predicted response weight, and back-projecting to a 3D
point cloud space through view point information to obtain a final 3D semantic segmentation result. According to the invention, the segmentation accuracy is improved.