# Active Self-Training for Weakly Supervised 3D Scene Semantic Segmentation

arXiv: https://arxiv.org/abs/2209.07069 · HTML: https://mlsanity.com/paper/2209.07069/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 44 references that are in the map.
- First posted on arXiv 15 Sep 2022.

## Builds on (most cited first, 30 of 32)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [PointConv: Deep Convolutional Networks on 3D Point Clouds](https://mlsanity.com/paper/1811.07246/) (2018)
- [PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding](https://mlsanity.com/paper/2007.10985/) (2020)
- [Joint 2D-3D-Semantic Data for Indoor Scene Understanding](https://mlsanity.com/paper/1702.01105/) (2017)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [Point-Voxel CNN for Efficient 3D Deep Learning](https://mlsanity.com/paper/1907.03739/) (2019)
- [In Defense of Pseudo-Labeling: An Uncertainty-Aware Pseudo-label Selection Framework for Semi-Supervised Learning](https://mlsanity.com/paper/2101.06329/) (2021)
- [Self-Supervised Pretraining of 3D Features on any Point-Cloud](https://mlsanity.com/paper/2101.02691/) (2021)
- [Exploring Data-Efficient 3D Scene Understanding with Contrastive Scene Contexts](https://mlsanity.com/paper/2012.09165/) (2020)
- [OccuSeg: Occupancy-aware 3D Instance Segmentation](https://mlsanity.com/paper/2003.06537/) (2020)
- [Tangent Convolutions for Dense Prediction in 3D](https://mlsanity.com/paper/1807.02443/) (2018)
- [SPLATNet: Sparse Lattice Networks for Point Cloud Processing](https://mlsanity.com/paper/1802.08275/) (2018)
- [3DMV: Joint 3D-Multi-View Prediction for 3D Semantic Scene Segmentation](https://mlsanity.com/paper/1803.10409/) (2018)
- [Virtual Multi-view Fusion for 3D Semantic Segmentation](https://mlsanity.com/paper/2007.13138/) (2020)
- [One Thing One Click: A Self-Training Approach for Weakly Supervised 3D Semantic Segmentation](https://mlsanity.com/paper/2104.02246/) (2021)
- [Guided Point Contrastive Learning for Semi-supervised Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2110.08188/) (2021)
- [Multi-Path Region Mining For Weakly Supervised 3D Semantic Segmentation on Point Clouds](https://mlsanity.com/paper/2003.13035/) (2020)
- [A-CNN: Annularly Convolutional Neural Networks on Point Clouds](https://mlsanity.com/paper/1904.08017/) (2019)
- [SSPC-Net: Semi-supervised Semantic 3D Point Cloud Segmentation Network](https://mlsanity.com/paper/2104.07861/) (2021)
- [ReDAL: Region-based and Diversity-aware Active Learning for Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2107.11769/) (2021)
- [Weakly Supervised Semantic Point Cloud Segmentation:Towards 10X Fewer Labels](https://mlsanity.com/paper/2004.04091/) (2020)
- [Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentation](https://mlsanity.com/paper/2003.06233/) (2020)

## Built on by (most cited first, 5 of 5)

- [LAKE-RED: Camouflaged Images Generation by Latent Background Knowledge Retrieval-Augmented Diffusion](https://mlsanity.com/paper/2404.00292/) (2024)
- [Pointmap Association and Piecewise-Plane Constraint for Consistent and Compact 3D Gaussian Segmentation Field](https://mlsanity.com/paper/2502.16303/) (2025)
- [Generalized Robot 3D Vision-Language Model with Fast Rendering and Pre-Training Vision-Language Alignment](https://mlsanity.com/paper/2312.00663/) (2023)
- [You Only Need One Thing One Click: Self-Training for Weakly Supervised 3D Scene Understanding](https://mlsanity.com/paper/2303.14727/) (2023)
- [Integrating SAM Supervision for 3D Weakly Supervised Point Cloud Segmentation](https://mlsanity.com/paper/2508.19909/) (2025)

## Abstract (arXiv)

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are typically based on learning with contrastive losses while automatically deriving per-point pseudo-labels from a sparse set of user-annotated labels. In this paper, our key observation is that the selection of what samples to annotate is as important as how these samples are used for training. Thus, we introduce a method for weakly supervised segmentation of 3D scenes that combines self-training with active learning. The active learning selects points for annotation that likely result in performance improvements to the trained model, while the self-training makes efficient use of the user-provided labels for learning the model. We demonstrate that our approach leads to an effective method that provides improvements in scene segmentation over previous works and baselines, while requiring only a small number of user annotations.