Point cloud segmentation method and device

The invention provides a point cloud segmentation method and device, and the method comprises the steps: carrying out the local clustering of a point cloud, obtaining a plurality of patches, and constructing a homogeneous graph structure based on the plurality of patches; the homogeneous graph structure comprises a plurality of nodes, node feature embedding vectors and high-dimensional edge features; performing dimension reduction on the high-dimensional edge features based on an auto-encoder to obtain low-dimensional edge features, and constructing a heterogeneous graph structure based on the low-dimensional edge features; the heterogeneous graph structure comprises a plurality of nodes, a plurality of clusters and an edge feature embedding vector of each cluster, and each cluster comprises at least one low-dimensional edge feature; based on the edge feature embedding vector, determining an aggregation node feature of each node; and inputting the aggregated node features into a classifier, determining node t