Plant Phenomics / 2022 / Article / Fig 1

Research Article

PSegNet: Simultaneous Semantic and Instance Segmentation for Point Clouds of Plants

Figure 1

Schematic diagram of the VFPS strategy. The leftmost point cloud (a) is an original tobacco point cloud that contains a total of 373,397 points. First, we set a number object for downsampled point cloud, e.g., . Then, the VBS with parameters is applied to the original point cloud to form a point cloud (b) containing 10955 voxels. Each voxel is represented by the center of gravity of points in the voxel, and a voxel example is enlarged in (c). At last, FPS is applied on this temporary voxelized point cloud to generate the final result (d) with an exact 4096 points.