Spatial Information Guided Convolution for Real-Time RGBD Semantic Segmentation

3D spatial information is known to be beneficial to the semantic segmentation task. Most existing methods take 3D spatial data as an additional input, leading to a two-stream segmentation network that processes RGB and 3D spatial information separately. This solution greatly increases the inference time and severely limits its scope for real-time applications. To solve this problem, we propose Spatial information guided Convolution (S-Conv), which allows efficient RGB feature and 3D spatial information integration. S-Conv is competent to infer the sampling offset of the convolution kernel guided by the 3D spatial information, helping the convolutional layer adjust the receptive field and adapt to geometric transformations. S-Conv also incorporates geometric information into the feature learning process by generating spatially adaptive convolutional weights. The capability of perceiving geometry is largely enhanced without much affecting the amount of parameters and computational cost. We further embed S-Conv into a semantic segmentation network, called Spatial information Guided convolutional Network (SGNet), resulting in real-time inference and state-of-the-art performance on NYUDv2 and SUNRGBD datasets.

LSANet: Feature Learning on Point Sets by Local Spatial Attention

Directly learning features from the point cloud has become an active research direction in 3D understanding. Existing learning-based methods usually construct local regions from the point cloud and extract the corresponding features using shared Multi-Layer Perceptron (MLP) and max pooling. However, most of these processes do not adequately take the spatial distribution of the point cloud into account, limiting the ability to perceive fine-grained patterns. We design a novel Local Spatial Attention (LSA) module to adaptively generate attention maps according to the spatial distribution of local regions. The feature learning process which integrates with these attention maps can effectively capture the local geometric structure. We further propose the Spatial Feature Extractor (SFE), which constructs a branch architecture, to aggregate the spatial information with associated features in each layer of the network better.The experiments show that our network, named LSANet, can achieve on par or better performance than the state-of-the-art methods when evaluating on the challenging benchmark datasets. The source code is available at https://github.com/LinZhuoChen/LSANet.