arXiv:2609.06959cs.CVcs.AI2026-09

提出多尺度空间约束分割法,无需标注就能精准分割3D点云。

MSSP: Multi-Scale Spatially-Constrained Partition for Unsupervised Semantic Segmentation of 3D Point Clouds

论文配图:MSSP: Multi-Scale Spatially-Constrained Partition for Unsupervised Semantic Segmentation of 3D Point Clouds
图 1 · 摘自论文原文
  • 多尺度谱分析生成多层次超点特征
  • 空间约束聚类提升分割精度,尤其在S3DIS上表现最佳
  • 适合无监督点云语义分割研究者使用

3D点云语义分割对现实世界空间理解至关重要,但人工标注成本高昂,推动了无需标签的无监督方法发展。现有基于超点的方法通常依赖固定粒度的谱分析,难以捕捉复杂室内场景中的层次化语义结构。为此,我们提出多尺度空间约束分割(MSSP)框架,结合多尺度谱分析与空间约束聚类。多尺度谱分析在多个聚类粒度下构建丰富超点描述符;然而高维特征空间需要结构先验以实现更清晰分割。空间约束聚类通过仅允许物理相邻区域合并,提供该先验,确保多尺度特征有效利用。在S3DIS和ScanNet上的大量实验表明,MSSP在主流无监督基准上达到最优的平均交并比(mIoU),尤其在S3DIS上提升显著。值得注意的是,消融实验揭示‘先正则化后增强’的交互机制:多尺度特征单独无法提升分割效果,但与空间正则化结合后显著有效,证明空间一致性是超点聚类中多尺度表示的前提。

原文摘要 · Abstract (English)

3D point cloud semantic segmentation is essential for real-world spatial understanding, yet the prohibitive cost of human annotations motivates unsupervised approaches that require no labels. Existing superpoint-based methods typically rely on spectral analysis at a fixed granularity, failing to capture the hierarchical semantic structures inherent in complex indoor scenes. To bridge this gap, we present a Multi-Scale Spatially-Constrained Partition (MSSP) framework that combines multi-scale spectral analysis with spatially-constrained clustering. Multi-scale spectral analysis constructs enriched superpoint descriptors across multiple clustering granularities; however, the resulting high-dimensional feature space calls for a structural prior to translate into cleaner segmentation. Spatially-constrained clustering supplies this prior by restricting superpoint merging to physically adjacent regions, imposing the spatial coherence needed for multi-scale features to be effective. Extensive experiments on S3DIS and ScanNet show that MSSP achieves the best mIoU among unsupervised methods on the main benchmarks, with particularly significant gains on S3DIS. Notably, our ablation reveals a regularize-then-enrich interaction: multi-scale features alone do not improve final segmentation, yet become highly effective when coupled with spatial regularization, underscoring that spatial coherence is aprerequisite for multi-scale representations in superpoint clustering.

3D分割无监督学习点云处理空间约束

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