Marcus Loo Vergara
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Machine Learning

Deep Learning on 3D Data

Evaluating PointNet, PointNet++ and ShapePFCN for segmenting laser-scanned point clouds of plants.

A laser-scanned point cloud of a plant rendered in grayscale
Grid of plant point clouds with leaves and stems segmented in different colors
A ShapePFCN segmentation of a plant with the stem in red and leaves in green

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I evaluated PointNet, PointNet++ and ShapePFCN for segmenting point clouds of plants at various stages of growth and in various environments.

Point clouds from the laser scanner often exceeded a million points, so we experimented with data preprocessing and architectural changes to support them.