# CP-VoteNet: Contrastive Prototypical VoteNet for Few-Shot Point Cloud Object Detection

arXiv: https://arxiv.org/abs/2408.17036 · HTML: https://mlsanity.com/paper/2408.17036/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 43 references that are in the map.
- First posted on arXiv 30 Aug 2024.

## Builds on (most cited first, 30 of 34)

- [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)
- [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)
- [Matching Networks for One Shot Learning](https://mlsanity.com/paper/1606.04080/) (2016)
- [Unsupervised Feature Learning via Non-Parametric Instance-level Discrimination](https://mlsanity.com/paper/1805.01978/) (2018)
- [Learning to Compare: Relation Network for Few-Shot Learning](https://mlsanity.com/paper/1711.06025/) (2017)
- [PANet: Few-Shot Image Semantic Segmentation with Prototype Alignment](https://mlsanity.com/paper/1908.06391/) (2019)
- [Meta-SGD: Learning to Learn Quickly for Few-Shot Learning](https://mlsanity.com/paper/1707.09835/) (2017)
- [Frustratingly Simple Few-Shot Object Detection](https://mlsanity.com/paper/2003.06957/) (2020)
- [Prior Guided Feature Enrichment Network for Few-Shot Segmentation](https://mlsanity.com/paper/2008.01449/) (2020)
- [Few-shot Object Detection via Feature Reweighting](https://mlsanity.com/paper/1812.01866/) (2018)
- [Unsupervised Embedding Learning via Invariant and Spreading Instance Feature](https://mlsanity.com/paper/1904.03436/) (2019)
- [Adaptive Prototype Learning and Allocation for Few-Shot Segmentation](https://mlsanity.com/paper/2104.01893/) (2021)
- [Few-Shot Object Detection with Attention-RPN and Multi-Relation Detector](https://mlsanity.com/paper/1908.01998/) (2019)
- [CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding](https://mlsanity.com/paper/2203.00680/) (2022)
- [Meta-Baseline: Exploring Simple Meta-Learning for Few-Shot Learning](https://mlsanity.com/paper/2003.04390/) (2020)
- [Part-aware Prototype Network for Few-shot Semantic Segmentation](https://mlsanity.com/paper/2007.06309/) (2020)
- [Multi-Scale Positive Sample Refinement for Few-Shot Object Detection](https://mlsanity.com/paper/2007.09384/) (2020)
- [SESS: Self-Ensembling Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/1912.11803/) (2019)
- [3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2012.04355/) (2020)
- [Weakly Supervised 3D Object Detection from Lidar Point Cloud](https://mlsanity.com/paper/2007.11901/) (2020)
- [Few-Shot Object Detection with Fully Cross-Transformer](https://mlsanity.com/paper/2203.15021/) (2022)
- [Contrastive Boundary Learning for Point Cloud Segmentation](https://mlsanity.com/paper/2203.05272/) (2022)
- [Few-Shot Classification with Contrastive Learning](https://mlsanity.com/paper/2209.08224/) (2022)
- [DDS3D: Dense Pseudo-Labels with Dynamic Threshold for Semi-Supervised 3D Object Detection](https://mlsanity.com/paper/2303.05079/) (2023)
- [Spatial Contrastive Learning for Few-Shot Classification](https://mlsanity.com/paper/2012.13831/) (2020)
- [2D-3D Interlaced Transformer for Point Cloud Segmentation with Scene-Level Supervision](https://mlsanity.com/paper/2310.12817/) (2023)

## Built on by (most cited first, 1 of 1)

- [From Dataset to Real-world: General 3D Object Detection via Generalized Cross-domain Few-shot Learning](https://mlsanity.com/paper/2503.06282/) (2025)

## Abstract (arXiv)

Few-shot point cloud 3D object detection (FS3D) aims to identify and localise objects of novel classes from point clouds, using knowledge learnt from annotated base classes and novel classes with very few annotations. Thus far, this challenging task has been approached using prototype learning, but the performance remains far from satisfactory. We find that in existing methods, the prototypes are only loosely constrained and lack of fine-grained awareness of the semantic and geometrical correlation embedded within the point cloud space. To mitigate these issues, we propose to leverage the inherent contrastive relationship within the semantic and geometrical subspaces to learn more refined and generalisable prototypical representations. To this end, we first introduce contrastive semantics mining, which enables the network to extract discriminative categorical features by constructing positive and negative pairs within training batches. Meanwhile, since point features representing local patterns can be clustered into geometric components, we further propose to impose contrastive relationship at the primitive level. Through refined primitive geometric structures, the transferability of feature encoding from base to novel classes is significantly enhanced. The above designs and insights lead to our novel Contrastive Prototypical VoteNet (CP-VoteNet). Extensive experiments on two FS3D benchmarks FS-ScanNet and FS-SUNRGBD demonstrate that CP-VoteNet surpasses current state-of-the-art methods by considerable margins across different FS3D settings. Further ablation studies conducted corroborate the rationale and effectiveness of our designs.