Papers › Point Cloud Pre-Training With Natural 3D Structures
Point Cloud Pre-Training With Natural 3D Structures
Ryosuke Yamada, Hirokatsu Kataoka, Naoya Chiba, Yukiyasu Domae, Tetsuya OGATA
The construction of 3D point cloud datasets requires a great deal of human effort. Therefore, constructing a largescale 3D point clouds dataset is difficult. In order to remedy this issue, we propose a newly developed point cloud fractal database (PC-FractalDB), which is a novel family of formula-driven supervised learning inspired by fractal geometry encountered in natural 3D structures. Our research is based on the hypothesis that we could learn representations from more real-world 3D patterns than conventional 3D datasets by learning fractal geometry. We show how the PC-FractalDB facilitates solving several recent dataset-related problems in 3D scene understanding, such as 3D model collection and labor-intensive annotation. The experimental section shows how we achieved the performance rate of up to 61.9% and 59.0% for the ScanNetV2 and SUN RGB-D datasets, respectively, over the current highest scores obtained with the PointContrast, contrastive scene contexts (CSC), and RandomRooms. Moreover, the PC-FractalDB pre-trained model is especially effective in training with limited data. For example, in 10% of training data on ScanNetV2, the PC-FractalDB pre-trained VoteNet performs at 38.3%, which is +14.8% higher accuracy than CSC. Of particular note, we found that the proposed method achieves the highest results for 3D object detection pre-training in limited point cloud data.
Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Object Detection | SUN-RGBD val | VoteNet (PC-FractalDB) | mAP@0.25 | 60.2 | #20 of 32 | Archive leaderboard | report |
| 3D Object Detection | SUN-RGBD val | VoteNet (PC-FractalDB) | mAP@0.5 | 35.2 | #20 of 32 | Archive leaderboard | report |
| 3D Object Detection | ScanNetV2 | VoteNet (PC-FractalDB) | mAP@0.25 | 63.4 | #25 of 33 | Archive leaderboard | report |
| 3D Object Detection | ScanNetV2 | VoteNet (PC-FractalDB) | mAP@0.5 | 39.9 | #25 of 33 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
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