Bilevel Convolutional Neural Networks for 3D Semantic Segmentation Using Large-scale LiDAR Point Clouds in Complex Environments

In large-scale road environment, point-based methods require dynamic calculations, and voxel-based methods often lose a lot of information when balancing resolution and performance. To overcome the drawbacks of the above two classical methods, this paper proposes a general network architecture that combines bi-level convolution and dynamic graph edge convolution optimization for multi-object recognition of large-scale road scenes. The framework integrates the convolution operations of two different domains of points and supervoxels to avoid redundant calculations and storage of spatial information in the network. Coupled with the dynamic graph edge convolution optimization, our model enables it to process large-scale point clouds end-to-end at once. Our method was tested and evaluated on different datasets. The experimental results show that our method can achieve higher accuracy in complex road scenes, which is superior to the existing advanced methods.