SoftGroup for 3D Instance Segmentation on Point Clouds

Thang Vu, Kookhoi Kim, Tung M. Luu, Thanh Nguyen, Chang D. Yoo; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022, pp. 2708-2717


Existing state-of-the-art 3D instance segmentation methods perform semantic segmentation followed by grouping. The hard predictions are made when performing semantic segmentation such that each point is associated with a single class. However, the errors stemming from hard decision propagate into grouping that results in (1) low overlaps between the predicted instance with the ground truth and (2) substantial false positives. To address the aforementioned problems, this paper proposes a 3D instance segmentation method referred to as SoftGroup by performing bottom-up soft grouping followed by top-down refinement. SoftGroup allows each point to be associated with multiple classes to mitigate the problems stemming from semantic prediction errors and suppresses false positive instances by learning to categorize them as background. Experimental results on different datasets and multiple evaluation metrics demonstrate the efficacy of SoftGroup. Its performance surpasses the strongest prior method by a significant margin of +6.2% on the ScanNet v2 hidden test set and +6.8% on S3DIS Area 5 in terms of AP50. SoftGroup is also fast, running at 345ms per scan with a single Titan X on ScanNet v2 dataset. The source code and trained models for both datasets are available at

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[pdf] [arXiv]
@InProceedings{Vu_2022_CVPR, author = {Vu, Thang and Kim, Kookhoi and Luu, Tung M. and Nguyen, Thanh and Yoo, Chang D.}, title = {SoftGroup for 3D Instance Segmentation on Point Clouds}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, month = {June}, year = {2022}, pages = {2708-2717} }