arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2104.04891cs.CVcs.AIcs.RO

SQN:大规模3D点云的弱监督语义分割

SQN: Weakly-Supervised Semantic Segmentation of Large-Scale 3D Point Clouds

University of Oxford(牛津大学);The Hong Kong Polytechnic University(香港理工大学);Sun Yat-sen University(中山大学);Huawei Noah’s Ark Lab(华为诺亚方舟实验室)

Qingyong Hu, Bo Yang, Guangchi Fang, Yulan Guo, Ales Leonardis, Niki Trigoni, Andrew Markham

AI总结:

本文提出SQN弱监督语义分割网络,利用点云局部语义同质性隐式增强稀疏标注,仅用0.1%标注点即在七个大规模点云数据集上取得优异性能。

摘要:

对点云进行完整标注非常耗时且成本高昂。随着包含数十亿点的更大规模点云数据集变得越来越普遍,我们不禁要问:完整标注是否真的有必要?实验表明,在仅有1%随机点标注的情况下,现有基于全标注假设设计的基线方法性能仅略有下降。然而,一旦标注比例进一步降低,例如降至0.1%,分割精度便会低到无法接受。我们观察到,由于点云是三维世界的采样,局部邻域内点的分布相对同质,并表现出很强的语义相似性。受此启发,我们提出了一种新的弱监督方法,用于隐式增强高度稀疏的监督信号。大量实验表明,所提出的 Semantic Query Network(SQN,语义查询网络)在弱监督设置下于七个大规模开放数据集上取得了良好性能,并且训练时仅需0.1%的随机标注点,大幅降低了标注成本和工作量。代码可在 https://github.com/QingyongHu/SQN 获取。

英文摘要:

Labelling point clouds fully is highly time-consuming and costly. As larger point cloud datasets with billions of points become more common, we ask whether the full annotation is even necessary, demonstrating that existing baselines designed under a fully annotated assumption only degrade slightly even when faced with 1% random point annotations. However, beyond this point, e.g., at 0.1% annotations, segmentation accuracy is unacceptably low. We observe that, as point clouds are samples of the 3D world, the distribution of points in a local neighborhood is relatively homogeneous, exhibiting strong semantic similarity. Motivated by this, we propose a new weak supervision method to implicitly augment highly sparse supervision signals. Extensive experiments demonstrate the proposed Semantic Query Network (SQN) achieves promising performance on seven large-scale open datasets under weak supervision schemes, while requiring only 0.1% randomly annotated points for training, greatly reducing annotation cost and effort. The code is available at https://github.com/QingyongHu/SQN.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑