3D Spatial Recognition without Spatially Labeled 3D

Conference on Computer Vision and Pattern Recognition (CVPR)


We introduce WyPR, a Weakly-supervised framework for Point cloud Recognition, requiring only scene-level class tags as supervision. WyPR jointly addresses three core 3D recognition tasks: point-level semantic segmentation, 3D proposal generation, and 3D object detection, coupling their predictions through self and cross-task consistency losses. We show that in conjunction with standard multiple-instance learning objectives, WyPR can detect and segment objects in point cloud data without access to any spatial labels at training time. We demonstrate its efficacy using the ScanNet and S3DIS datasets, outperforming prior state of the art on weakly-supervised segmentation by more than 6% mIoU. In addition, we set up the first benchmark for weakly-supervised 3D object detection on both datasets, where WyPR outperforms standard approaches and establishes strong baselines for future work. Project page:

Related Publications

All Publications

EMNLP - October 1, 2021

Masked Language Modeling and the Distributional Hypothesis: Order Word Matters Pre-training for Little

Koustuv Sinha, Robin Jia, Dieuwke Hupkes, Joelle Pineau, Adina Williams, Douwe Kiela

IROS - September 30, 2021

Learning Navigation Skills for Legged Robots with Learned Robot Embeddings

Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra, Akshara Rai

IROS - September 27, 2021

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning

Kalyan Vasudev Alwala, Mustafa Mukadam

RecSys - September 27, 2021

Transformers4Rec: Bridging the Gap between NLP and Sequential / Session-Based Recommendation

Gabriel De Souza Pereira Moreira, Sara Rabhi, Jeong Min Lee, Ronay Ak, Even Oldridge

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookies Policy