论文标题
通过空间结构多样性推理进行点云语义细分的积极学习
Active Learning for Point Cloud Semantic Segmentation via Spatial-Structural Diversity Reasoning
论文作者
论文摘要
众所周知,昂贵的注释成本被称为“点云语义分割技术”开发的主要限制。主动学习方法努力通过选择和标记点云的一个子集来降低这种成本,但以前的尝试忽略了所选样品的空间结构多样性,从而诱使模型选择在全球环境中缺少其他代表性的群集候选人,而在局部缺少其他代表性的候选人。在本文中,我们提出了一种新的基于3D区域的主动学习方法来解决此问题。我们的方法称为SSDR-AL,将原始点云分组为超级点,并逐步选择了标签采集的最有用和代表性的。我们通过图形推理网络实现了选择机制,该网络考虑了SuperPoint的空间和结构多样性。为了在更实用的情况下部署SSDR-AL,我们设计了一种噪音的迭代标签策略,以面对以前的“主流标签”策略引入的“嘈杂注释”问题。对两个点云基准测试的广泛实验证明了SSDR-AL在语义分割任务中的有效性。特别是,SSDR-AL显着胜过基线方法,并在分别达到90%的完全监督学习绩效时,注释成本最多将高达63.0%和24.0%。
The expensive annotation cost is notoriously known as the main constraint for the development of the point cloud semantic segmentation technique. Active learning methods endeavor to reduce such cost by selecting and labeling only a subset of the point clouds, yet previous attempts ignore the spatial-structural diversity of the selected samples, inducing the model to select clustered candidates with similar shapes in a local area while missing other representative ones in the global environment. In this paper, we propose a new 3D region-based active learning method to tackle this problem. Dubbed SSDR-AL, our method groups the original point clouds into superpoints and incrementally selects the most informative and representative ones for label acquisition. We achieve the selection mechanism via a graph reasoning network that considers both the spatial and structural diversities of superpoints. To deploy SSDR-AL in a more practical scenario, we design a noise-aware iterative labeling strategy to confront the "noisy annotation" problem introduced by the previous "dominant labeling" strategy in superpoints. Extensive experiments on two point cloud benchmarks demonstrate the effectiveness of SSDR-AL in the semantic segmentation task. Particularly, SSDR-AL significantly outperforms the baseline method and reduces the annotation cost by up to 63.0% and 24.0% when achieving 90% performance of fully supervised learning, respectively.