Attention Mechanisms in PointNet++ for Effective Object Classification in 3D Point Clouds

Perfilev Dmitrii

Abstract: In this research, an attention mechanism is integrated to enhance object classification in the processing of 3D point clouds. Point clouds obtained from LiDAR sensors are crucial for robotics and autonomous driving, as they provide detailed spatial data. However, large data volumes and noise often challenge traditional processing methods. To address this, the improved PointNet++ neural network is employed with an embedded attention mechanism, allowing it to focus on the most relevant portions of the input for object classification. PointNet++'s hierarchical structure, combined with attention layers, enables effective classification of complex scenes by prioritizing key features in the point cloud data. Tests on the KITTI dataset demonstrate that the attention-based approach boosts classification accuracy and reduces processing time. This method shows promise for building more reliable and efficient perception systems for self-driving vehicles and other 3D data analysis applications. By leveraging attention mechanisms within PointNet++, this study underscores their potential to enhance processing speed and accuracy, addressing critical challenges in the management of large-scale 3D point cloud data and supporting the development of faster, more accurate neural network-based systems for real-world applications.

Keywords: point cloud, cluster, attention, pointnet, lidar