Language-Level Semantics-Conditioned 3D Point Cloud Segmentation

Abstract

In this work, a language-level Semantics-Conditioned framework for 3D Point cloud segmentation, called SeCondPoint, is proposed, where language-level semantics are introduced to condition the modeling of the point feature distribution, as well as the pseudo-feature generation, and a feature–geometry-based Mixup approach is further proposed to facilitate the distribution learning. Since a large number of point features could be generated from the learned distribution thanks to the semantics-conditioned modeling, any existing segmentation network could be embedded into the proposed framework to boost its performance. In addition, the proposed framework has the inherent advantage of dealing with novel classes, which seems an impossible feat for the current segmentation networks. Extensive experimental results on two public datasets demonstrate that three typical segmentation networks could achieve significant improvements over their original performances after enhancement by the proposed framework in the conventional 3D segmentation task. Two benchmarks are also introduced for a newly introduced zero-shot 3D segmentation task, and the results also validate the proposed framework.

Keywords

• three-dimensional point cloud
• semantic segmentation
• zero-shot learning