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Multi-scale feature learning for 3D semantic mapping of agricultural fields using UAV point clouds☆

文献类型： 外文期刊

作者： Wang, Hao 1 ; Shan, Yongchao 1 ; Chen, Liping 1 ; Liu, Mengnan 2 ; Wang, Lin 2 ; Meng, Zhijun 1 ;

作者机构： 1.Beijing Acad Agr & Forestry Sci, Res Ctr Intelligent Equipment, Beijing 100097, Peoples R China

2.State Key Lab Intelligent Agr Power Equipment, Beijing 100097, Peoples R China

3.Natl Engn Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

关键词： UAV Photogrammetry; Semantic segmentation; Point cloud; LoGA-Net; Field boundary sensing

期刊名称：INTERNATIONAL JOURNAL OF APPLIED EARTH OBSERVATION AND GEOINFORMATION （ 影响因子：8.6； 五年影响因子：8.6 ）

ISSN： 1569-8432

年卷期： 2025 年 141 卷

页码：

收录情况： SCI

摘要： Accurate spatial distribution information of field features is critical for enabling autonomous agricultural machinery navigation. However, current perception systems exhibit limited segmentation performance in complex farm environments due to illumination variations and mutual occlusion among various regions. This paper proposes a low-cost UAV photogrammetry framework for centimeter-level 3D semantic maps of agricultural fields to support autonomous agricultural machinery path planning. The methodology combines UAV-captured images with RTK positioning to reconstruct high-precision 3D point clouds, followed by a novel Local-Global Feature Aggregation Network (LoGA-Net) integrating multi-scale attention mechanisms and geometric constraints. The framework achieves 78.6% mIoU in classifying eight critical agricultural categories: paddy field, dry field, building, vegetation, farm track, paved ground, infrastructure and other static obstacles. Experimental validation demonstrates a 5.9% accuracy improvement over RandLA-Net on the Semantic3D benchmark. This advancement significantly enhances perception accuracy in complex agricultural environments, particularly for field boundary delineation and occluded feature recognition, which directly facilitates robust path planning for unmanned agricultural machinery. The framework provides a scalable technical and data-driven foundation for achieving fully autonomous farm operations, ensuring both operational efficiency and environmental sustainability.

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