| Summary: | This project aimed to carry out algorithm which is able to generate semantic
images and then fuse the semantic images with point cloud to obtain point
cloud with semantic information for the scene understanding tasks. This project
can be seen as a base for scene understanding task, which covers a wide range
of data designing and processing work. First of all, labeling strategies designed
for semantic segmentation aimed to help with scene understanding tasks have
been carried out. In addition, for semantic information generation, a semantic
segmentation network integrating attention mechanism and all MLP layers
upsampling technique was applied. Finally, to get abundant information, the
semantic images are fused with the point cloud using an algorithm based on
robotics geometric projection theories.
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