{"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/sess-self-ensembling-semi-supervised-3d","title":"SESS: Self-Ensembling Semi-Supervised 3D Object Detection","arxiv_id":"1912.11803","date":"2019-12-26","proceeding":"CVPR 2020 6","authors":["Na Zhao","Tat-Seng Chua","Gim Hee Lee"],"abstract":"The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good alternative to mitigate the data annotation issue, but has remained largely unexplored in 3D object detection. Inspired by the recent success of self-ensembling technique in semi-supervised image classification task, we propose SESS, a self-ensembling semi-supervised 3D object detection framework. Specifically, we design a thorough perturbation scheme to enhance generalization of the network on unlabeled and new unseen data. Furthermore, we propose three consistency losses to enforce the consistency between two sets of predicted 3D object proposals, to facilitate the learning of structure and semantic invariances of objects. Extensive experiments conducted on SUN RGB-D and ScanNet datasets demonstrate the effectiveness of SESS in both inductive and transductive semi-supervised 3D object detection. Our SESS achieves competitive performance compared to the state-of-the-art fully-supervised method by using only 50% labeled data. Our code is available at https://github.com/Na-Z/sess.","url_abs":"https://arxiv.org/abs/1912.11803v3","url_pdf":"https://arxiv.org/pdf/1912.11803v3.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":[{"paper_slug":"sess-self-ensembling-semi-supervised-3d","repo_url":"https://github.com/Na-Z/sess","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"image-classification","task_name":"Image Classification"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"semi-supervised-image-classification","task_name":"Semi-Supervised Image Classification"},{"task_slug":"image-classification","task_name":"image-classification"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1912.11803","atlas_url":"https://app.syntology.ai/?focus=1912.11803","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1912.11803"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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