论文标题

在3D图形结构的野生场景中弱监督的语义细分

Weakly Supervised Semantic Segmentation in 3D Graph-Structured Point Clouds of Wild Scenes

论文作者

Wang, Haiyan, Rong, Xuejian, Yang, Liang, Feng, Jinglun, Xiao, Jizhong, Tian, Yingli

论文摘要

3D分割标签的不足是有效点云分割的主要障碍之一,尤其是对于具有不同物体的野外场景。为了减轻此问题,我们提出了一个新型的深图卷积网络框架,用于在唯一的2D监督的点云中进行大规模的语义场景细分。与前面的多视图监督方法不同,我们认为2D监督能够为训练3D语义分割模型提供足够的指导信息,而自然场景点云的范围并未明确捕获其固有结构,即使只有每个训练样本单一视图。具体而言,基于图的金字塔特征网络(GPFN)旨在隐式推断点集的全局和局部特征,并引入了可观察性网络(obsNet),以进一步解决3D场景中对象的复杂空间关系引起的对象遮挡问题。在投影过程中,提出了透视渲染和语义融合模块,以提供精制的2D监督信号,以及2D-3D联合优化策略。广泛的实验结果证明了我们的2D监督框架的有效性,该框架通过完整3D标签训练的最先进方法可相当,用于流行的SUNCG合成数据集和S3DIS现实世界数据集的语义点云进行分割。

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph convolutional network-based framework for large-scale semantic scene segmentation in point clouds with sole 2D supervision. Different with numerous preceding multi-view supervised approaches focusing on single object point clouds, we argue that 2D supervision is capable of providing sufficient guidance information for training 3D semantic segmentation models of natural scene point clouds while not explicitly capturing their inherent structures, even with only single view per training sample. Specifically, a Graph-based Pyramid Feature Network (GPFN) is designed to implicitly infer both global and local features of point sets and an Observability Network (OBSNet) is introduced to further solve object occlusion problem caused by complicated spatial relations of objects in 3D scenes. During the projection process, perspective rendering and semantic fusion modules are proposed to provide refined 2D supervision signals for training along with a 2D-3D joint optimization strategy. Extensive experimental results demonstrate the effectiveness of our 2D supervised framework, which achieves comparable results with the state-of-the-art approaches trained with full 3D labels, for semantic point cloud segmentation on the popular SUNCG synthetic dataset and S3DIS real-world dataset.

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