{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/point-cloud-instance-segmentation-using","title":"Point Cloud Instance Segmentation using Probabilistic Embeddings","arxiv_id":"1912.00145","date":"2019-11-30","proceeding":"CVPR 2021 1","authors":["Biao Zhang","Peter Wonka"],"abstract":"In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space for point cloud embedding. Specifically, each point is represented as a tri-variate normal distribution. In the clustering step, we propose a novel loss function, which benefits both the semantic segmentation and the clustering. Our experimental results show important improvements to the SOTA, i.e., 3.1% increased average per-category mAP on the PartNet dataset.","url_abs":"https://arxiv.org/abs/1912.00145v2","url_pdf":"https://arxiv.org/pdf/1912.00145v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"3d-instance-segmentation-1","task_name":"3D Instance Segmentation"},{"task_slug":"clustering","task_name":"Clustering"},{"task_slug":"instance-segmentation","task_name":"Instance Segmentation"},{"task_slug":"segmentation","task_name":"Segmentation"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/3d-instance-segmentation-on-partnet","task":"3D Instance Segmentation","dataset":"PartNet","model":"Probabilistic Embeddings","rank_in_archive_order":2,"of":3,"metrics":{"mAP50":"57.5"},"uses_additional_data":false},{"leaderboard":"/sota/instance-segmentation-on-partnet","task":"Instance Segmentation","dataset":"PartNet","model":"PE","rank_in_archive_order":1,"of":1,"metrics":{"mAP50":"57.5"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1912.00145","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}