A Point Cloud Classification Method and Its Applications Based on Multi-Head Self-Attention

A Point Cloud Classification Method and Its Applications Based on Multi-Head Self-Attention

In the monitoring the safety status of hazardous chemical warehouses by three-dimensional re-construction of deep camera point clouds, there are classification difficulties such as large space, sparse distribution of point clouds in cargo images, and similar distribution in low dimensions. Based on the above problem, a point cloud recognition method based on multi-head attention mechanism is proposed. The algorithm first normalizes the distribution of the point cloud data set through the affine transformation algorithm to solve the problem of sparse distribution. Then, the high-dimensional feature map is obtained by fusing the data down-sampling and curve feature aggregation algorithms to solve the problem of low-dimensional distribution approximation. The feature map is then encoded using a multi-head self-attention encoder to obtain features under different heads, which are then merged into a feature map. Finally, a multi-layer fully connected neural network is used as the decoder to decode the feature map into the final object classification. Comparative experiments were performed on the ModelNet40 dataset and the self-built dataset of warehouse goods, and the results showed that the accuracy of this paper was improved by 0.5% to 7.8% compared with that of other classification algorithms.