# Towards Robust Few-shot Point Cloud Semantic Segmentation

arXiv: https://arxiv.org/abs/2309.11228 · HTML: https://mlsanity.com/paper/2309.11228/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 39 of its 52 references that are in the map.
- First posted on arXiv 20 Sep 2023.

## Builds on (most cited first, 30 of 39)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [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)
- [Prototypical Networks for Few-shot Learning](https://mlsanity.com/paper/1703.05175/) (2017)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Matching Networks for One Shot Learning](https://mlsanity.com/paper/1606.04080/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Co-teaching: Robust Training of Deep Neural Networks with Extremely Noisy Labels](https://mlsanity.com/paper/1804.06872/) (2018)
- [A Closer Look at Memorization in Deep Networks](https://mlsanity.com/paper/1706.05394/) (2017)
- [DivideMix: Learning with Noisy Labels as Semi-supervised Learning](https://mlsanity.com/paper/2002.07394/) (2020)
- [PANet: Few-Shot Image Semantic Segmentation with Prototype Alignment](https://mlsanity.com/paper/1908.06391/) (2019)
- [Early-Learning Regularization Prevents Memorization of Noisy Labels](https://mlsanity.com/paper/2007.00151/) (2020)
- [How does Disagreement Help Generalization against Label Corruption?](https://mlsanity.com/paper/1901.04215/) (2019)
- [Training Deep Neural Networks on Noisy Labels with Bootstrapping](https://mlsanity.com/paper/1412.6596/) (2014)
- [Few-Shot Learning via Embedding Adaptation with Set-to-Set Functions](https://mlsanity.com/paper/1812.03664/) (2018)
- [Combating noisy labels by agreement: A joint training method with co-regularization](https://mlsanity.com/paper/2003.02752/) (2020)
- [Prior Guided Feature Enrichment Network for Few-Shot Segmentation](https://mlsanity.com/paper/2008.01449/) (2020)
- [CANet: Class-Agnostic Segmentation Networks with Iterative Refinement and Attentive Few-Shot Learning](https://mlsanity.com/paper/1903.02351/) (2019)
- [Prototype Mixture Models for Few-shot Semantic Segmentation](https://mlsanity.com/paper/2008.03898/) (2020)
- [Part-aware Prototype Network for Few-shot Semantic Segmentation](https://mlsanity.com/paper/2007.06309/) (2020)
- [Selective-Supervised Contrastive Learning with Noisy Labels](https://mlsanity.com/paper/2203.04181/) (2022)
- [Self-Guided and Cross-Guided Learning for Few-Shot Segmentation](https://mlsanity.com/paper/2103.16129/) (2021)
- [Multi-Objective Interpolation Training for Robustness to Label Noise](https://mlsanity.com/paper/2012.04462/) (2020)
- [Few-shot 3D Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2006.12052/) (2020)
- [NGC: A Unified Framework for Learning with Open-World Noisy Data](https://mlsanity.com/paper/2108.11035/) (2021)
- [Learning with Neighbor Consistency for Noisy Labels](https://mlsanity.com/paper/2202.02200/) (2022)
- [Partner-Assisted Learning for Few-Shot Image Classification](https://mlsanity.com/paper/2109.07607/) (2021)
- [The Challenges of Continuous Self-Supervised Learning](https://mlsanity.com/paper/2203.12710/) (2022)

## Built on by (most cited first, 3 of 3)

- [CP-VoteNet: Contrastive Prototypical VoteNet for Few-Shot Point Cloud Object Detection](https://mlsanity.com/paper/2408.17036/) (2024)
- [SCOPE: Scene-Contextualized Incremental Few-Shot 3D Segmentation](https://mlsanity.com/paper/2603.06572/) (2026)
- [Uncertainty-aware Prototype Learning with Variational Inference for Few-shot Point Cloud Segmentation](https://mlsanity.com/paper/2603.19757/) (2026)

## Abstract (arXiv)

Few-shot point cloud semantic segmentation aims to train a model to quickly adapt to new unseen classes with only a handful of support set samples. However, the noise-free assumption in the support set can be easily violated in many practical real-world settings. In this paper, we focus on improving the robustness of few-shot point cloud segmentation under the detrimental influence of noisy support sets during testing time. To this end, we first propose a Component-level Clean Noise Separation (CCNS) representation learning to learn discriminative feature representations that separates the clean samples of the target classes from the noisy samples. Leveraging the well separated clean and noisy support samples from our CCNS, we further propose a Multi-scale Degree-based Noise Suppression (MDNS) scheme to remove the noisy shots from the support set. We conduct extensive experiments on various noise settings on two benchmark datasets. Our results show that the combination of CCNS and MDNS significantly improves the performance. Our code is available at https://github.com/Pixie8888/R3DFSSeg.