Low-Resource White-Box Semantic Segmentation of Supporting Towers on 3D
  Point Clouds via Signature Shape Identification
Diogo Lavado Cláudia Soares Alessandra Micheletti Giovanni Bocchi Alex Coronati Manuel Silva Patrizio Frosini
Research in 3D semantic segmentation has been increasing performance metrics,
like the IoU, by scaling model complexity and computational resources, leaving
behind researchers and practitioners that (1) cannot access the necessary
resources and (2) do need transparency on the model decision mechanisms. In
this paper, we propose SCENE-Net, a low-resource white-box model for 3D point
cloud semantic segmentation. SCENE-Net identifies signature shapes on the point
cloud via group equivariant non-expansive operators (GENEOs), providing
intrinsic geometric interpretability. Our training time on a laptop is 85~min,
and our inference time is 20~ms. SCENE-Net has 11 trainable geometrical
parameters and requires fewer data than black-box models. SCENE--Net offers
robustness to noisy labeling and data imbalance and has comparable IoU to
state-of-the-art methods. With this paper, we release a 40~000 Km labeled
dataset of rural terrain point clouds and our code implementation.