通过点击引导的不确定性精炼与场景负提示,提升3D分割在少点击下的准确率和鲁棒性。
NegROI: Click-Centric Uncertainty-Guided Refinement with Scene-Conditioned Negative Prompts for Robust Interactive 3D Segmentation
- 基于点击区域局部精炼,结合不确定性筛选高风险区域优先优化。
- 引入场景自适应负提示,有效抑制背景干扰导致的误判。
- 适用于点云分割中点击少、数据差异大的复杂场景,如自动驾驶与室内重建。
交互式3D分割旨在用最少的用户点击从点云中提取物体掩码。现有方法仍面临两大挑战:(i) 粗粒度体素分辨率导致有限点击下边界模糊;(ii) 混淆背景结构引发难以消除的假阳性。这些问题在不同密度与尺度的数据集间(如密集RGB-D重建与稀疏LiDAR扫描)尤为突出,固定精炼策略与纯点击驱动解码泛化能力差。为此,我们提出NegROI——一种基于Transformer的新型交互框架,融合点击中心的多分辨率精炼与场景条件负提示。给定粗粒度体素预测后,仅在当前点击附近的局部兴趣区域(ROI)于细网格上进行精炼,并将优化后的置信度回传至粗掩码。为提升鲁棒性与效率,引入不确定性驱动的选择性精炼,优先处理模糊区域。同时,通过跨注意力机制从场景标记中学习一组场景相关的负提示,并使用多样性正则器稳定其生成。最后,提出边界感知硬负样本挖掘,引导负提示注意力聚焦于靠近边界的高置信度假阳性区域。在ScanNet、S3DIS和KITTI等常用基准上的实验表明,该方法显著提升点击效率并减少假阳性,且跨数据集鲁棒性优于当前最优基线。
原文摘要 · Abstract (English)
Interactive 3D segmentation aims to extract object masks in point clouds with minimal user clicks. Despite recent progress, most existing approaches still struggle with (i) coarse voxel resolution that blurs fine boundaries under limited clicks and (ii) hard false positives caused by confusing background structures. These issues are exacerbated by density and scale shifts across datasets (e.g., dense RGB-D reconstructions vs. sparse LiDAR scans), where fixed refinement heuristics and purely click-driven decoding generalize poorly. To address them, we propose NegROI -- a novel transformer-based interactive framework that couples click-centric multi-resolution refinement with scene-conditioned negative prompts. Given a coarse voxel prediction, it refines only a local Region Of Interest (ROI) around the current click on a finer grid and fuses refined logits back to the coarse mask. To improve robustness and efficiency, we introduce uncertainty-driven selective refinement that prioritizes ambiguous regions. Meanwhile, we model hard background patterns via a set of scene-conditioned negative prompts obtained by cross-attention over scene tokens. We further stabilize these prompts with a diversity regularizer. Finally, we propose boundary-aware hard negative mining to supervise negative-prompt attention toward boundary-proximal, high-confidence false positives. Our experiments on common benchmark datasets (i.e., ScanNet, S3DIS, and KITTI) demonstrate improved click efficiency and reduced false positives, with stronger cross-dataset robustness than the state-of-the-art baselines.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。