Spcr: Semi-Supervised Point Cloud Instance Segmentation With Perturbation Consistency Regularization

Point cloud instance segmentation is steadily improving with the development of deep learning. However, current progress is hindered by the expensive cost of collecting dense point cloud labels. To this end, we propose the first semi-supervised point cloud instance segmentation architecture, which is called semi-supervised point cloud instance segmentation with perturbation consistency regularization (SPCR). It is capable to alleviate the data-hungry bottleneck of existing strongly supervised methods. Specifically, SPCR enforces an invariance of the predictions over different perturbations applied to the input point clouds. We firstly introduce various perturbation schemes on inputs to force the network to be robust and easily generalized to the unseen and unlabeled data. Further, perturbation consistency regularization is then conducted on predicted instance masks from various transformed inputs to provide self-supervision for network learning. Extensive experiments on the challenging ScanNet v2 dataset demonstrate our method can achieve competitive performance compared with the state-of-the-art of fully supervised methods.