Channel Attention and Normal-based Local Feature Aggregation Network (CNLNet): A Deep Learning Method for Pre-disaster Large-scale Outdoor Lidar Semantic Segmentation

Pre-disaster information storage is crucial for effective disaster response. The discussion regarding deep learning-based Light Detection and Ranging (Lidar) semantic segmentation technology for indoor small items has been ongoing in recent years. However, the methods applicable to large-scale outdoor Lidar datasets for pre-disaster information storage remain limited. This study aims to propose a novel deep learning-based network for city-scale Lidar semantic segmentation to support pre-disaster information storage, called channel attention and normal-based local feature aggregation network (CNLNet). This network is designed to segment common urban land cover objects, including buildings and vegetation. This network incorporates surface normal information and the channel attention mechanism into the RandLA-Net backbone. Ablation studies have been devised to assess the performance of these two features. During the pre-processing step, color information from optical images is fused with Lidar data. The findings demonstrate that CNLNet can enhance the accuracy of the RandLA-Net backbone by improving mIoU at least 1-2%. Including one of these two features also contributes to the backbone’s improved accuracy. Notably, CNLNet outperforms other well-known networks in terms of accuracy with the test of the public Sementic3D dataset. The study further reveals that the proposed network excels in building segmentation, a crucial facet of pre-disaster information storage. Moreover, the results show that spatial resolution, whether at 0.5m or 10m per pixel for optical images, has limited influence on outcomes. One theoretical contribution of this study is the demonstration of the advantages of integrating either surface normal information or a channel attention mechanism to enhance large-scale outdoor Lidar semantic segmentation. Labeled Lidar datasets have been created for training. The practical contribution is that it can optimize disaster response by efficiently facilitating pre-disaster information storage.