# Exploring Single Domain Generalization of LiDAR-based Semantic Segmentation under Imperfect Labels

arXiv: https://arxiv.org/abs/2510.09035 · HTML: https://mlsanity.com/paper/2510.09035/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 27 of its 34 references that are in the map.
- First posted on arXiv 10 Oct 2025.

## Builds on (most cited first, 27 of 27)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Co-teaching: Robust Training of Deep Neural Networks with Extremely Noisy Labels](https://mlsanity.com/paper/1804.06872/) (2018)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [Making Deep Neural Networks Robust to Label Noise: a Loss Correction Approach](https://mlsanity.com/paper/1609.03683/) (2016)
- [MentorNet: Learning Data-Driven Curriculum for Very Deep Neural Networks on Corrupted Labels](https://mlsanity.com/paper/1712.05055/) (2017)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Robust Loss Functions under Label Noise for Deep Neural Networks](https://mlsanity.com/paper/1712.09482/) (2017)
- [Normalized Loss Functions for Deep Learning with Noisy Labels](https://mlsanity.com/paper/2006.13554/) (2020)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds](https://mlsanity.com/paper/2208.00223/) (2022)
- [StyleAdv: Meta Style Adversarial Training for Cross-Domain Few-Shot Learning](https://mlsanity.com/paper/2302.09309/) (2023)
- [Cross-Domain Few-Shot Object Detection via Enhanced Open-Set Object Detector](https://mlsanity.com/paper/2402.03094/) (2024)
- [Twin Contrastive Learning with Noisy Labels](https://mlsanity.com/paper/2303.06930/) (2023)
- [MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding](https://mlsanity.com/paper/2107.00346/) (2021)
- [MetaSets: Meta-Learning on Point Sets for Generalizable Representations](https://mlsanity.com/paper/2204.07311/) (2022)
- [Adaptive Integration of Partial Label Learning and Negative Learning for Enhanced Noisy Label Learning](https://mlsanity.com/paper/2312.09505/) (2023)
- [PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Data](https://mlsanity.com/paper/2105.04169/) (2021)
- [Noisy Label Processing for Classification: A Survey](https://mlsanity.com/paper/2404.04159/) (2024)
- [Zero-shot detection of buildings in mobile LiDAR using Language Vision Model](https://mlsanity.com/paper/2404.09931/) (2024)
- [Weighted Point Cloud Augmentation for Neural Network Training Data Class-Imbalance](https://mlsanity.com/paper/1904.04094/) (2019)
- [Rethinking Attention Module Design for Point Cloud Analysis](https://mlsanity.com/paper/2407.19294/) (2024)

## Abstract (arXiv)

Accurate perception is critical for vehicle safety, with LiDAR as a key enabler in autonomous driving. To ensure robust performance across environments, sensor types, and weather conditions without costly re-annotation, domain generalization in LiDAR-based 3D semantic segmentation is essential. However, LiDAR annotations are often noisy due to sensor imperfections, occlusions, and human errors. Such noise degrades segmentation accuracy and is further amplified under domain shifts, threatening system reliability. While noisy-label learning is well-studied in images, its extension to 3D LiDAR segmentation under domain generalization remains largely unexplored, as the sparse and irregular structure of point clouds limits direct use of 2D methods. To address this gap, we introduce the novel task Domain Generalization for LiDAR Semantic Segmentation under Noisy Labels (DGLSS-NL) and establish the first benchmark by adapting three representative noisy-label learning strategies from image classification to 3D segmentation. However, we find that existing noisy-label learning approaches adapt poorly to LiDAR data. We therefore propose DuNe, a dual-view framework with strong and weak branches that enforce feature-level consistency and apply cross-entropy loss based on confidence-aware filtering of predictions. Our approach shows state-of-the-art performance by achieving 56.86% mIoU on SemanticKITTI, 42.28% on nuScenes, and 52.58% on SemanticPOSS under 10% symmetric label noise, with an overall Arithmetic Mean (AM) of 49.57% and Harmonic Mean (HM) of 48.50%, thereby demonstrating robust domain generalization in DGLSS-NL tasks. The code is available on our project page.