WSSIC-Net: Weakly-Supervised Semantic Instance Completion of 3D Point Cloud Scenes

Abstract

Semantic instance completion aims to recover the complete 3D shapes of foreground objects together with their labels from a partial 2.5D scan of a scene. Previous works have relied on full supervision, which requires ground-truth annotations, in the form of bounding boxes and complete 3D objects. This has greatly limited their real-world application because the acquisition of ground-truth data is very costly and time-consuming. To address this bottleneck, we propose a Weakly-Supervised Semantic Instance Completion Network (WSSIC-Net), which learns real-world partial point cloud object completion without requiring the ground truth of complete 3D objects. Instead, WSSIC-Net leverages 3D ground-truth bounding boxes, partial objects of a raw scene, and unpaired synthetic 3D point clouds. More specifically, a 3D detector is used to encode partial point clouds into proposal features, which are then fed into two branches. The first branch uses fully supervised box prediction based on proposal features. The second branch, hereinafter called instance completion, leverages the proposal features as partial object features to achieve weakly-supervised instance completion. A Generative Adversarial Network (GAN) completes the partial features of the 2.5D foreground objects of real-world scenes using only unpaired but semantically-consistent complete synthetic point clouds. In our experiments, we demonstrate that the fully-supervised 3D detection and the weakly-supervised instance completion complement one another. The qualitative and quantitative evaluations on the ScanNet v2 dataset demonstrate that the proposed “weakly-supervised” approach consistently achieves comparable performance to the state-of-the-art “fully supervised” methods.