With the advancement of service robot technology, the demand for higher boundary precision in indoor semantic segmentation has increased. Traditional methods of extracting Euclidean features using point cloud and voxel data often neglect geodesic information, reducing boundary accuracy for adjacent objects and consuming significant computational resources. This study proposes a novel network, the Euclidean-geodesic network (EGNet), which uses point cloud-voxel-mesh data to characterize detail, contour, and geodesic features, respectively. The EGNet performs feature fusion through Euclidean and geodesic branches. In the Euclidean branch, the features extracted from point cloud data compensate for the detail features lost by voxel data. In the geodesic branch, geodesic features from mesh data are extracted using inter-domain fusion and aggregation modules. These geodesic features are then combined with contextual features from the Euclidean branch, and the simplified trajectory map of the grid is used for up-sampling to produce the final semantic segmentation results. The Scannet and Matterport datasets were used to demonstrate the effectiveness of the EGNet through visual comparisons with other models. The results demonstrate the effectiveness of integrating Euclidean and geodesic features for improved semantic segmentation. This approach can inspire further research combining these feature types for enhanced segmentation accuracy.
Keywords: geodesic information; neural network; point cloud; semantic segmentation; voxel data.