Robust Point Cloud Segmentation with Noisy Annotations.

Label noise and class imbalance are common challenges encountered in real-world datasets. Existing approaches for robust learning often focus on addressing either label noise or class imbalance individually, resulting in suboptimal performance when both biases are present. To bridge this gap, this work introduces a novel meta-learning-based dynamic loss that adapts the objective functions during the training process to effectively learn a classifier from long-tailed noisy data. Specifically, our dynamic loss consists of two components: a label corrector and a margin generator. The label corrector is responsible for correcting noisy labels, while the margin generator generates per-class classification margins by capturing the underlying data distribution and the learning state of the classifier. In addition, we employ a hierarchical sampling strategy that enriches a small amount of unbiased metadata with diverse and challenging samples. This enables the joint optimization of the two components in the dynamic loss through meta-learning, allowing the classifier to effectively adapt to clean and balanced test data. Extensive experiments conducted on multiple real-world and synthetic datasets with various types of data biases, including CIFAR-10/100, Animal-10N, ImageNet-LT, and Webvision, demonstrate that our method achieves state-of-the-art accuracy. The code for our approach will soon be made publicly available.

ABSTRACTMost of point cloud segmentation methods are based on clean datasets and are easily affected by label noise. We present a novel method called Joint‐learning, which is the first attempt to apply a dual‐network framework to point cloud segmentation with noisy labels. Two networks are trained simultaneously, and each network selects clean samples to update its peer network. The communication between two networks is able to exchange the knowledge they learned, possessing good robustness and generalization ability. Subsequently, adaptive sample selection is proposed to maximize the learning capacity. When the accuracies of both networks are no longer improving, the selection rate is reduced, which results in cleaner selected samples. To further reduce the impact of noisy labels, for unselected samples, we provide a joint label correction algorithm to rectify their labels via two networks' predictions. We conduct various experiments on S3DIS and ScanNet‐v2 datasets under different types and rates of noises. Both quantitative and qualitative results verify the reasonableness and effectiveness of the proposed method. By comparison, our method is substantially superior to the state‐of‐the‐art methods and achieves the best results in all noise settings. The average performance improvement is more than 7.43%, with a maximum of 11.42%.

Learning with noisy labels aims to train neural networks with noisy labels. Current models handle instance-independent label noise (IIN) well; however, they fall short with real-world noise. In medical image classification, atypical samples frequently receive incorrect labels, rendering instance-dependent label noise (IDN) an accurate representation of real-world scenarios. However, the current IDN approaches fail to consider the typicality of samples, which hampers their ability to address real-world label noise effectively. To alleviate the issues, we introduce typicality- and instance-dependent label noise (TIDN) to simulate real-world noise and establish a TIDN-combating framework to combat label noise. Specifically, we use the sample’s distance to decision boundaries in the feature space to represent typicality. The TIDN is then generated according to typicality. We establish a TIDN-attention module to combat label noise and learn the transition matrix from latent ground truth to the observed noisy labels. A recursive algorithm that enables the network to make correct predictions with corrections from the learned transition matrix is proposed. Our experiments demonstrate that the TIDN simulates real-world noise more closely than the existing IIN and IDN. Furthermore, the TIDN-combating framework demonstrates superior classification performance when training with simulated TIDN and actual real-world noise.

This paper presents a novel approach to recognize and estimate pose of the 3D objects in cluttered range images. The key technical breakthrough of the developed approach can enable robust object recognition and localization under undesirable condition such as environmental illumination variation as well as optical occlusion to viewing the object partially. First, the acquired point clouds are segmented into individual object point clouds based on the developed 3D object segmentation for randomly stacked objects. Second, an efficient shape-matching algorithm called Sub-OBB based object recognition by using the proposed oriented bounding box (OBB) regional area-based descriptor is performed to reliably recognize the object. Then, the 3D position and orientation of the object can be roughly estimated by aligning the OBB of segmented object point cloud with OBB of matched point cloud in a database generated from CAD model and 3D virtual camera. To detect accurate pose of the object, the iterative closest point (ICP) algorithm is used to match the object model with the segmented point clouds. From the feasibility test of several scenarios, the developed approach is verified to be feasible for object pose recognition and localization.

In recent years, point cloud segmentation technology has increasingly played a pivotal role in tunnel construction and maintenance. Currently, traditional methods for segmenting point clouds in tunnel scenes often rely on a multitude of attribute information, including spatial distribution, color, normal vectors, intensity, and density. However, the underground tunnel scenes show greater complexity than road tunnel scenes, such as dim light, indistinct boundaries of tunnel walls, and disordered pipelines. Furthermore, issues pertaining to data quality, such as the lack of color information and insufficient annotated data, contribute to the subpar performance of conventional point cloud segmentation algorithms. To address this issue, a 3D point cloud segmentation framework specifically for underground tunnels is proposed based on the Segment Anything Model (SAM). This framework effectively leverages the generalization capability of the visual foundation model to automatically adapt to various scenes and perform efficient segmentation of tunnel point clouds. Specifically, the tunnel is first sliced along its direction on the tunnel line. Then, each sliced point cloud is projected onto a two-dimensional plane. Various projection methods and point cloud coloring techniques are employed to enhance SAM’s segmentation performance in images. Finally, the semantic segmentation of the entire underground tunnel is achieved by a small set of manually annotated semantic labels used as prompts in a progressive and recursive manner. The key feature of this method lies in its independence from model training, as it directly and efficiently addresses tunnel point cloud segmentation challenges by capitalizing on the generalization capability of foundation model. Comparative experiments against classical region growing algorithms and PointNet++ deep learning algorithms demonstrate the superior performance of our proposed algorithm.

Fitting and recognition of geometric primitives in segmented 3D point clouds using a localized voting procedure

Knowledge distillation (KD), which aims at transferring the knowledge from a complex network (a teacher) to a simpler and smaller network (a student), has received considerable attention in recent years. Typically, most existing KD methods work on well-labeled data. Unfortunately, real-world data often inevitably involve noisy labels, thus leading to performance deterioration of these methods. In this article, we study a little-explored but important issue, i.e., KD with noisy labels. To this end, we propose a novel KD method, called ambiguity-guided mutual label refinery KD (AML-KD), to train the student model in the presence of noisy labels. Specifically, based on the pretrained teacher model, a two-stage label refinery framework is innovatively introduced to refine labels gradually. In the first stage, we perform label propagation (LP) with small-loss selection guided by the teacher model, improving the learning capability of the student model. In the second stage, we perform mutual LP between the teacher and student models in a mutual-benefit way. During the label refinery, an ambiguity-aware weight estimation (AWE) module is developed to address the problem of ambiguous samples, avoiding overfitting these samples. One distinct advantage of AML-KD is that it is capable of learning a high-accuracy and low-cost student model with label noise. The experimental results on synthetic and real-world noisy datasets show the effectiveness of our AML-KD against state-of-the-art KD methods and label noise learning (LNL) methods. Code is available at https://github.com/Runqing-forMost/ AML-KD.

Noisy labels are unavoidable yet troublesome in the ecosystem of deep learning because models can easily overfit them. There are many types of label noise, such as symmetric, asymmetric and instance-dependent noise (IDN), with IDN being the only type that depends on image information. Such dependence on image information makes IDN a critical type of label noise to study, given that labelling mistakes are caused in large part by insufficient or ambiguous information about the visual classes present in images. Aiming to provide an effective technique to address IDN, we present a new graphical modelling approach called InstanceGM, that combines discriminative and generative models. The main contributions of InstanceGM are: i) the use of the continuous Bernoulli distribution to train the generative model, offering significant training advantages, and ii) the exploration of a state-of-the-art noisy-label discriminative classifier to generate clean labels from instance-dependent noisy-label samples. InstanceGM is competitive with current noisy-label learning approaches, particularly in IDN benchmarks using synthetic and real-world datasets, where our method shows better accuracy than the competitors in most experiments <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> .

Abstract3D point cloud semantic segmentation is fundamental for autonomous driving. Most approaches in the literature neglect an important aspect, i.e., how to deal with domain shift when handling dynamic scenes. This can significantly hinder the navigation capabilities of self-driving vehicles. This paper advances the state of the art in this research field. Our first contribution consists in analysing a new unexplored scenario in point cloud segmentation, namely Source-Free Online Unsupervised Domain Adaptation (SF-OUDA). We experimentally show that state-of-the-art methods have a rather limited ability to adapt pre-trained deep network models to unseen domains in an online manner. Our second contribution is an approach that relies on adaptive self-training and geometric-feature propagation to adapt a pre-trained source model online without requiring either source data or target labels. Our third contribution is to study SF-OUDA in a challenging setup where source data is synthetic and target data is point clouds captured in the real world. We use the recent SynLiDAR dataset as a synthetic source and introduce two new synthetic (source) datasets, which can stimulate future synthetic-to-real autonomous driving research. Our experiments show the effectiveness of our segmentation approach on thousands of real-world point clouds (Code and synthetic datasets are available at https://github.com/saltoricristiano/gipso-sfouda).KeywordsOnline domain adaptationSource-free unsupervised domain adaptationPoint cloud segmentationGeometric propagation

With the advancement of industrial automation, the frequency of human–robot interaction (HRI) has significantly increased, necessitating a paramount focus on ensuring human safety throughout this process. This paper proposes a simulation‐assisted neural network for point cloud segmentation in HRI, specifically distinguishing humans from various surrounding objects. During HRI, readily accessible prior information, such as the positions of background objects and the robot's posture, can generate a simulated point cloud and assist in point cloud segmentation. The simulation‐assisted neural network utilizes simulated and actual point clouds as dual inputs. A simulation‐assisted edge convolution module in the network facilitates the combination of features from the actual and simulated point clouds, updating the features of the actual point cloud to incorporate simulation information. Experiments of point cloud segmentation in industrial environments verify the efficacy of the proposed method.

Network Intrusion Detection Systems (NIDSs) are an increasingly important tool for the prevention and mitigation of cyber attacks. Over the past years, a lot of research efforts have aimed at leveraging the increasingly powerful models of Machine Learning (ML) for this purpose. A number of labelled synthetic datasets have been generated and made publicly available by researchers, and they have become the benchmarks via which new ML-based NIDS classifiers are being evaluated. Recently published results show excellent classification performance with these datasets, increasingly approaching 100 percent performance across key evaluation metrics such as Accuracy, F1 score, AUC, etc. Unfortunately, we have not yet seen these excellent academic research results translated into practical NIDS systems with such near-perfect performance. This motivated our research presented in this paper, where we analyse the statistical properties of the benign traffic in three of the more recent and relevant NIDS datasets, (CIC_IDS, UNSW_NB15, TON_IOT), by converting them into a common flow format. As a comparison, we consider two datasets obtained from real-world production networks, one from a university network and one from a medium size Internet Service Provider (ISP). Our results show that the two real-world datasets are quite similar among themselves in regards to most of the considered statistical features. Equally, the three synthetic datasets are also relatively similar within their group. However, and most importantly, our results show a distinct difference of most of the considered statistical features between the three synthetic datasets and the two real-world datasets. Since ML relies on the basic assumption of training and test datasets being sampled from the same distribution, this raises the question of how well the performance results of ML-classifiers trained on the considered synthetic datasets can translate and generalise to real-world networks. We believe this is an interesting and relevant question which provides motivation for further research in this space.

Wearable technologies enable continuous monitoring of various health metrics, such as physical activity, heart rate, sleep, and stress levels. A key challenge with wearable data is obtaining quality labels. Unlike modalities like video where the videos themselves can be effectively used to label objects or events, wearable data do not contain obvious cues about the physical manifestation of the users and usually require rich metadata. As a result, label noise can become an increasingly thorny issue when labeling wearable data. In this paper, we propose a novel solution to address noisy label learning, entitled Few-Shot Human-in-the-Loop Refinement (FHLR). Our method initially learns a seed model using weak labels. Next, it fine-tunes the seed model using a handful of expert corrections. Finally, it achieves better generalizability and robustness by merging the seed and fine-tuned models via weighted parameter averaging. We evaluate our approach on four challenging tasks and datasets, and compare it against eight competitive baselines designed to deal with noisy labels. We show that FHLR achieves significantly better performance when learning from noisy labels and achieves state-of-the-art by a large margin, with up to accuracy improvement under symmetric and asymmetric noise. Notably, we find that FHLR is particularly robust to increased label noise, unlike prior works that suffer from severe performance degradation. Our work not only achieves better generalization in high-stakes health sensing benchmarks but also sheds light on how noise affects commonly-used models.

The accurate segmentation of roof point cloud will directly affect the quality of building model reconstruction. Because of the complexity of building roof structure, the uneven distribution of point cloud density obtained by lidar, and the interference of external environment, it is very difficult to accurately segment the point cloud on the roof. In order to improve the quality of point cloud segmentation, this paper proposes a joint optimization method of region growth and RANSAC for Airborne LIDAR point cloud segmentation. Firstly, the point cloud is voxeled, and the normal vector and curvature of the point cloud are calculated based on principal component analysis (PCA). After setting the correlation threshold, the region growing algorithm is used to extract the initial reliable patch. Then, RANSAC algorithm is used to regularize the irregular or deviation areas in the extracted patch, optimize and set new roof surface parameters. Finally, for the unclassified points, the Euclidean distance to each plane is calculated. According to the minimum distance principle and the set distance threshold, they are classified to the corresponding roof surface, and the segmentation results are refined. Tests on several representative building point clouds show that this method significantly improves the accuracy, recall and overall accuracy of roof point cloud segmentation, and provides high-quality basic data for building 3D model reconstruction

Global localization in a prior map is an important field in virtual and augmented reality systems, but it is always a challenge to conduct point cloud based localization in the large-scale scene prior map. A large-scale prior map usually means huge amount of calculation for point cloud processing, which leads to the long time required for global localization. To deal with this problem, we propose a fast point cloud global localization method based on point clouds segmentation and learning-based descriptor. On the one hand, cylindrical filtering, ground-point removal and point cloud segmentation are adopted to eliminate a large number of useless points and retain points with rich structures, which improves the efficiency of point cloud registration. On the other hand, reliable 3D point cloud descriptor, two-phase search strategy for place recognition and geometric consistency verification are used to ensure the localization accuracy. Experiments prove that the proposed method achieves good localization effect on both KITTI and MVSEC datasets. Under the condition of ensuring the high localization accuracy, the time for point clouds to complete the global localization is greatly reduced.

Contrastive learning of graphs under label noise