Abstract: Provided are a point cloud segmentation method and apparatus, a device, and a storage medium. The point cloud segmentation method includes: acquiring a to-be-processed point cloud; obtaining, in a gridding scenario space to which respective point in the point cloud belongs, a target grid corresponding to the respective point through a pre-trained neural network, wherein the pre-trained neural network is obtained by training a sample point cloud and a sample target grid corresponding to the sample point cloud in a sample gridding scenario space; and outputting a point cloud corresponding to a respective instance according to an instance category corresponding to the target grid, wherein the same target grid has the same instance category.

Abstract: A method for training a point cloud processing model and a method for performing instance segmentation on a point cloud are provided. The method includes: labeling an unlabeled point cloud according to a labeled point cloud to obtain a sample point cloud; inputting the sample point cloud to a point cloud processing model to obtain first predicted semantic information of the sample point cloud and a first predicted offset of the sample point cloud; determining a training loss according to the first predicted semantic information, the first predicted offset, a sample label corresponding to the sample point cloud, and original coordinate information of the sample point cloud; and training the point cloud processing model with the training loss.