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

Demonstration of the semantic segmentation results of PSegNet on four different rooms in Area 5 of S3DIS. (a) The semantc prediction results from PSegNet and (b) the semantic ground truth. Different semantic classes are rendered with different colors at the bottom, respectively. The first two rooms are visualized from top, and the third and the fourth rooms are visualized with side views. Each room is composed of several blocks.