Point cloud classification method and device

The embodiment of the invention discloses a point cloud classification method and device. A specific embodiment of the method comprises: obtaining initial point cloud data; randomly extracting first point cloud data from the initial point cloud data based on a preset first downsampling rate; randomly extracting second point cloud data from the first point cloud data based on a preset second downsampling rate; respectively inputting the first point cloud data and the second point cloud data into a pre-trained spatial aggregation network to obtain first feature data and second feature data; extracting feature data corresponding to the second point cloud data from the first feature data, and aggregating the extracted feature data and the second feature data into third feature data; and inputting the third feature data into a pre-trained point cloud classification network to obtain category information corresponding to each point in the second point cloud data. According to the embodiment,uniform sampling with di