PG-Net: A Large-Scale LiDAR Point Cloud Semantic Segmentation Network Integrating Discrete Point Distribution and Local Graph Structural Feature

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Abstract
LiDAR point clouds provide accurate and direct representations of spatial locations and geometric structures of objects in 3D space, making them essential for applications such as target recognition in autonomous driving and 3D reconstruction in smart cities. However, large-scale point clouds pose challenges, including massive data volume, uneven density distribution, and complex object structures. Existing point-based and graph-based semantic segmentation networks often suffer from limitations such as loss of local contextual information, over-reliance on local graph construction, and insufficient modeling of relationships between neighboring points. To address these issues, we propose PG-Net, a novel network that integrates discrete point distribution features with local graph structural information. The framework includes: (1) a point branch equipped with a Local Adaptive Feature Augmentation (LAFA) module to extract efficient local features; (2) a graph branch featuring a Dynamic Graph Feature Aggregation (DGFA) module, which explicitly models relationships among points in local graphs and adaptively balances a point’s intrinsic features with its neighborhood context; and (3) fuses local features from both branches, allowing their complementary strengths to enhance feature representation, a process further promoted by a New Aggregation Loss Function. Experiments on the Toronto3D and S3DIS datasets show that PG-Net achieves overall accuracy (OA) of 97.69% and 89.87%, and mean Intersection-over-Union (mIoU) of 83.51% and 73.22%, respectively. Comparative and ablation studies against advanced methods such as RandLA-Net, BAAF-Net, and LACV-Net demonstrate the effectiveness and robustness of our approach. By jointly exploiting discrete point distribution and local graph structural relationships, PG-Net effectively leverages the complementary strengths of its dual-branch design, offering a reliable solution for efficient and accurate large-scale point cloud semantic segmentation.
Funding Information
  • National Natural Science Foundation of China (41971423)

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