# Contrastive Learning for Self-Supervised Pre-Training of Point Cloud Segmentation Networks With Image Data

arXiv: https://arxiv.org/abs/2301.07283 · HTML: https://mlsanity.com/paper/2301.07283/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 46 references that are in the map.
- First posted on arXiv 18 Jan 2023.

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

- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Exploring Simple Siamese Representation Learning](https://mlsanity.com/paper/2011.10566/) (2020)
- [Unsupervised Learning of Visual Features by Contrasting Cluster Assignments](https://mlsanity.com/paper/2006.09882/) (2020)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Unsupervised Feature Learning via Non-Parametric Instance-level Discrimination](https://mlsanity.com/paper/1805.01978/) (2018)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Prototypical Contrastive Learning of Unsupervised Representations](https://mlsanity.com/paper/2005.04966/) (2020)
- [Contrastive Learning with Hard Negative Samples](https://mlsanity.com/paper/2010.04592/) (2020)
- [Dense Contrastive Learning for Self-Supervised Visual Pre-Training](https://mlsanity.com/paper/2011.09157/) (2020)
- [PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding](https://mlsanity.com/paper/2007.10985/) (2020)
- [Hard Negative Mixing for Contrastive Learning](https://mlsanity.com/paper/2010.01028/) (2020)
- [Debiased Contrastive Learning](https://mlsanity.com/paper/2007.00224/) (2020)
- [Keystroke Dynamics as Part of Lifelogging](https://mlsanity.com/paper/2010.10144/) (2020)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)
- [Propagate Yourself: Exploring Pixel-Level Consistency for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/2011.10043/) (2020)
- [Exploring Cross-Image Pixel Contrast for Semantic Segmentation](https://mlsanity.com/paper/2101.11939/) (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)
- [CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2203.00680/) (2022)
- [Guided Point Contrastive Learning for Semi-supervised Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2110.08188/) (2021)
- [Pri3D: Can 3D Priors Help 2D Representation Learning?](https://mlsanity.com/paper/2104.11225/) (2021)
- [SimIPU: Simple 2D Image and 3D Point Cloud Unsupervised Pre-Training for Spatial-Aware Visual Representations](https://mlsanity.com/paper/2112.04680/) (2021)
- [P4Contrast: Contrastive Learning with Pairs of Point-Pixel Pairs for RGB-D Scene Understanding](https://mlsanity.com/paper/2012.13089/) (2020)

## Built on by (most cited first, 2 of 2)

- [Pre-Training LiDAR-Based 3D Object Detectors Through Colorization](https://mlsanity.com/paper/2310.14592/) (2023)
- [HyperMODEST: Self-Supervised 3D Object Detection with Confidence Score Filtering](https://mlsanity.com/paper/2304.14446/) (2023)

## Abstract (arXiv)

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly smaller and more challenging to annotate than their image-based counterparts. Self-supervised pre-training on unlabelled data is one way to reduce the amount of manual annotations needed. Previous work has focused on pre-training with point clouds exclusively. While useful, this approach often requires two or more registered views. In the present work, we combine image and point cloud modalities by first learning self-supervised image features and then using these features to train a 3D model. By incorporating image data, which is often included in many 3D datasets, our pre-training method only requires a single scan of a scene and can be applied to cases where localization information is unavailable. We demonstrate that our pre-training approach, despite using single scans, achieves comparable performance to other multi-scan, point cloud-only methods.