A Deep Neural Network With Spatial Pooling (DNNSP) for 3-D Point Cloud Classification

The large number of object categories and many overlapping or closely neighboring objects in large-scale urban scenes pose great challenges in point cloud classification. Most works in deep learning have achieved a great success on regular input representations, but they are hard to be directly applied to classify point clouds due to the irregularity and inhomogeneity of the data. In this paper, a deep neural network with spatial pooling (DNNSP) is proposed to classify large-scale point clouds without rasterization. The DNNSP first obtains the point-based feature descriptors of all points in each point cluster. The distance minimum spanning tree-based pooling is then applied in the point feature representation to describe the spatial information among the points in the point clusters. The max pooling is next employed to aggregate the point-based features into the cluster-based features. To assure the DNNSP is invariant to the point permutation and sizes of the point clusters, the point-based feature representation is determined by the multilayer perception (MLP) and the weight sharing for each point is retained, which means that the weight of each point in the same layer is the same. In this way, the DNNSP can learn the features of points scaled from the entire regions to the centers of the point clusters, which makes the point cluster-based feature representations robust and discriminative. Finally, the cluster-based features are input to another MLP for point cloud classification. We have evaluated qualitatively and quantitatively the proposed method using several airborne laser scanning and terrestrial laser scanning point cloud data sets. The experimental results have demonstrated the effectiveness of our method in improving classification accuracy.