Dual-Branch Dynamic Object Segmentation Network Based on Spatio-Temporal Information Fusion

To address the issue of low accuracy in the segmentation of dynamic objects using semantic segmentation networks, a dual-branch dynamic object segmentation network has been proposed, which is based on the fusion of spatiotemporal information. First, an appearance-motion feature fusion module is designed, which characterizes the motion information of objects by introducing a residual graph. This module combines a co-attention mechanism and a motion correction method to enhance the extraction of appearance features for dynamic objects. Furthermore, to mitigate boundary blurring and misclassification issues when 2D semantic information is projected back into 3D point clouds, a majority voting strategy based on time-series point cloud information has been proposed. This approach aims to overcome the limitations of post-processing in single-frame point clouds. By doing this, this method can significantly enhance the accuracy of segmenting moving objects in practical scenarios. Test results from the semantic KITTI public dataset demonstrate that our improved method outperforms mainstream dynamic object segmentation networks like LMNet and MotionSeg3D. Specifically, it achieves an Intersection over Union (IoU) of 72.19%, representing an improvement of 9.68% and 4.86% compared to LMNet and MotionSeg3D, respectively. The proposed method, with its precise algorithm, has practical applications in autonomous driving perception.