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Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion (CVPR 2021)

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This repository is for BAAF-Net introduced in the following paper:

"Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion"
Shi Qiu, Saeed Anwar, Nick Barnes
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2021)

Paper and Citation

The paper can be downloaded from here (CVF) or here (arXiv).
If you find our paper/codes/results are useful, please cite:

@inproceedings{qiu2021semantic,
  title={Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion},
  author={Qiu, Shi and Anwar, Saeed and Barnes, Nick},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  pages={1757-1767},
  year={2021}
}

Updates

  • 04/05/2021 Results for S3DIS dataset (mIoU: 72.2%, OA: 88.9%, mAcc: 83.1%) are available now.
  • 04/05/2021 Test results (sequence 11-21: mIoU: 59.9%, OA: 89.8%) for SemanticKITTI dataset are available now.
  • 04/05/2021 Validation results (sequence 08: mIoU: 58.7%, OA: 91.3%) for SemanticKITTI are available now.
  • 28/05/2021 Pretrained models can be downloaded on all 6 areas of S3DIS dataset are available at google drive.
  • 28/05/2021 codes released!

Settings

  • The project is tested on Python 3.6, Tensorflow 1.13.1 and cuda 10.0
  • Then install the dependencies: pip install -r helper_requirements.txt
  • And compile the cuda-based operators: sh compile_op.sh
    (Note: may change the cuda root directory CUDA_ROOT in ./util/sampling/compile_ops.sh)

Dataset

  • Download S3DIS dataset from here.
  • Unzip and move the folder Stanford3dDataset_v1.2_Aligned_Version to ./data.
  • Run: python utils/data_prepare_s3dis.py
    (Note: may specify other directory as dataset_path in ./util/data_prepare_s3dis.py)

Training/Test

  • Training:
python -B main_S3DIS.py --gpu 0 --mode train --test_area 5

(Note: specify the --test_area from 1~6)

  • Test:
python -B main_S3DIS.py --gpu 0 --mode test --test_area 5 --model_path 'pretrained/Area5/snap-32251'

(Note: specify the --test_area index and the trained model path --model_path)

6-fold Cross Validation

  • Conduct training and test on each area.
  • Extract all test results, Area_1_conferenceRoom_1.ply ... Area_6_pantry_1.ply (272 .ply files in total), to the folder ./data/results
  • Run: python utils/6_fold_cv.py
    (Note: may change the target folder original_data_dir and the test results base_dir in ./util/6_fold_cv.py)

Pretrained Models and Results on S3DIS Dataset

  • BAAF-Net pretrained models on all 6 areas can be downloaded from google drive.
  • Download our results (ply files) via google drive for visualizations/comparisons.
  • More Functions about loading/writing/etc. ply files can be found from here.

Results on SemanticKITTI Dataset

  • Online test results (sequence 11-21): mIoU: 59.9%, OA: 89.8%
  • Download our test results (sequence 11-21 label files) via google drive for visualizations/comparisons.

  • Validation results (sequence 08): mIoU: 58.7%, OA: 91.3%
  • Download our validation results (sequence 08 label files) via google drive for visualizations/comparisons.
  • Visualization tools can be found from semantic-kitti-api.

Acknowledgment

The code is built on RandLA-Net. We thank the authors for sharing the codes.