# Domain-aware Category-level Geometry Learning Segmentation for 3D Point Clouds

arXiv: https://arxiv.org/abs/2508.11265 · HTML: https://mlsanity.com/paper/2508.11265/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 44 references that are in the map.
- First posted on arXiv 15 Aug 2025.

## Builds on (most cited first, 23 of 23)

- [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)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Generalizing to Unseen Domains: A Survey on Domain Generalization](https://mlsanity.com/paper/2103.03097/) (2021)
- [Domain Generalization: A Survey](https://mlsanity.com/paper/2103.02503/) (2021)
- [Deep Learning for 3D Point Clouds: A Survey](https://mlsanity.com/paper/1912.12033/) (2019)
- [Deep Learning for LiDAR Point Clouds in Autonomous Driving: A Review](https://mlsanity.com/paper/2005.09830/) (2020)
- [Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds](https://mlsanity.com/paper/2007.08488/) (2020)
- [Virtual Multi-view Fusion for 3D Semantic Segmentation](https://mlsanity.com/paper/2007.13138/) (2020)
- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [Transfer Learning from Synthetic to Real LiDAR Point Cloud for Semantic Segmentation](https://mlsanity.com/paper/2107.05399/) (2021)
- [PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds](https://mlsanity.com/paper/2208.00223/) (2022)
- [A Survey on Open-Vocabulary Detection and Segmentation: Past, Present, and Future](https://mlsanity.com/paper/2307.09220/) (2023)
- [Contrastive Boundary Learning for Point Cloud Segmentation](https://mlsanity.com/paper/2203.05272/) (2022)
- [Unsupervised Point Cloud Representation Learning with Deep Neural Networks: A Survey](https://mlsanity.com/paper/2202.13589/) (2022)
- [3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds](https://mlsanity.com/paper/2304.00690/) (2023)
- [A Curriculum Domain Adaptation Approach to the Semantic Segmentation of Urban Scenes](https://mlsanity.com/paper/1812.09953/) (2018)
- [Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation](https://mlsanity.com/paper/2101.07253/) (2021)
- [Scalable Optimal Transport Methods in Machine Learning: A Contemporary Survey](https://mlsanity.com/paper/2305.05080/) (2023)
- [Prototype Adaption and Projection for Few- and Zero-shot 3D Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2305.14335/) (2023)
- [UniMix: Towards Domain Adaptive and Generalizable LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2404.05145/) (2024)
- [Compositional Semantic Mix for Domain Adaptation in Point Cloud Segmentation](https://mlsanity.com/paper/2308.14619/) (2023)
- [Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2407.02286/) (2024)

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

- [Cross-view Domain Generalization via Geometric Consistency for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2602.14525/) (2026)
- [Mamba Learns in Context: Structure-Aware Domain Generalization for Multi-Task Point Cloud Understanding](https://mlsanity.com/paper/2603.20739/) (2026)

## Abstract (arXiv)

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global geometric patterns in point clouds while ignoring the category-level distribution and alignment. In this paper, a category-level geometry learning framework is proposed to explore the domain-invariant geometric features for domain generalized 3D semantic segmentation. Specifically, Category-level Geometry Embedding (CGE) is proposed to perceive the fine-grained geometric properties of point cloud features, which constructs the geometric properties of each class and couples geometric embedding to semantic learning. Secondly, Geometric Consistent Learning (GCL) is proposed to simulate the latent 3D distribution and align the category-level geometric embeddings, allowing the model to focus on the geometric invariant information to improve generalization. Experimental results verify the effectiveness of the proposed method, which has very competitive segmentation accuracy compared with the state-of-the-art domain generalized point cloud methods.