Weakly supervised semantic segmentation of mobile laser scanning point clouds via category balanced random annotation and deep consistency‐guided self‐distillation mechanism
Bibliographic record
Abstract
Abstract Scene understanding of mobile laser scanning (MLS) point clouds is vital in autonomous driving and virtual reality. Most existing semantic segmentation methods rely on a large number of accurately labelled points, which is time‐consuming and labour‐intensive. To cope with this issue, this paper explores a weakly supervised learning (WSL) framework for MLS data. Specifically, a category balanced random annotation (CBRA) strategy is employed to obtain balanced labels and enhance model performance. Next, based on KPConv‐Net as a backbone network, a WSL semantic segmentation framework is developed for MLS point clouds via a deep consistency‐guided self‐distillation (DCS) mechanism. The DCS mechanism consists of a deep consistency‐guided self‐distillation branch and an entropy regularisation branch. The self‐distillation branch is designed by constructing an auxiliary network to maintain the consistency of predicted distributions between the auxiliary network and the original network, while the entropy regularisation branch is designed to increase the confidence of the network predicted results. The proposed WSL framework was evaluated on the WHU‐MLS, NPM3D and Toronto3D datasets. By using only 0.1% labelled points, the proposed WSL framework achieved a competitive performance in MLS point cloud semantic segmentation with the mean Intersection over Union (mIoU) scores of 60.08%, 72.0% and 67.42% on the three datasets, respectively.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.003 | 0.002 |
| Research integrity | 0.002 | 0.002 |
| Insufficient payload (model declined to judge) | 0.001 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".