Weakly Supervised Learning Method for Semantic Segmentation of Large-Scale 3D Point Cloud Based on Transformers

Abstract

Abstract. Nowadays, semantic segmentation results of 3D point cloud have been widely applied in the fields of robotics, autonomous driving, and augmented reality etc. Thanks to the development of relevant deep learning models (such as PointNet), supervised training methods have become hotspot, in which two common limitations exists: inferior feature representation of 3D points and massive annotations. To improve 3D point feature, inspired by the idea of transformer, we employ a so-call LCP network that extracts better feature by investigating attentions between target 3D points and its corresponding local neighbors via local context propagation. Training transformer-based network needs amount of training samples, which itself is a labor-intensive, costly and error-prone work, therefore, this work proposes a weakly supervised framework, in particular, pseudo-labels are estimated based on the feature distances between unlabeled points and prototypes, which are calculated based on labeled data. The extensive experimental results show that, the proposed PL-LCP can yield considerable results (67.6% mIOU for indoor and 67.3% for outdoor) even if only using 1% real labels, and comparing to several state-of-the-art method using all labels, we achieve superior results in mIOU, OA for indoor (65.9%, 89.2%).