ALISE: Annotation-Free LiDAR Instance Segmentation for Autonomous Driving
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866917000832352256 |
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| author | Lyu, Yongxuan Jiang, Guangfeng Liu, Hongsi Liu, Jun |
| author_facet | Lyu, Yongxuan Jiang, Guangfeng Liu, Hongsi Liu, Jun |
| contents | The manual annotation of outdoor LiDAR point clouds for instance segmentation is extremely costly and time-consuming. Current methods attempt to reduce this burden but still rely on some form of human labeling. To completely eliminate this dependency, we introduce ALISE, a novel framework that performs LiDAR instance segmentation without any annotations. The central challenge is to generate high-quality pseudo-labels in a fully unsupervised manner. Our approach starts by employing Vision Foundation Models (VFMs), guided by text and images, to produce initial pseudo-labels. We then refine these labels through a dedicated spatio-temporal voting module, which combines 2D and 3D semantics for both offline and online optimization. To achieve superior feature learning, we further introduce two forms of semantic supervision: a set of 2D prior-based losses that inject visual knowledge into the 3D network, and a novel prototype-based contrastive loss that builds a discriminative feature space by exploiting 3D semantic consistency. This comprehensive design results in significant performance gains, establishing a new state-of-the-art for unsupervised 3D instance segmentation. Remarkably, our approach even outperforms MWSIS, a method that operates with supervision from ground-truth (GT) 2D bounding boxes by a margin of 2.53% in mAP (50.95% vs. 48.42%). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_05752 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ALISE: Annotation-Free LiDAR Instance Segmentation for Autonomous Driving Lyu, Yongxuan Jiang, Guangfeng Liu, Hongsi Liu, Jun Computer Vision and Pattern Recognition The manual annotation of outdoor LiDAR point clouds for instance segmentation is extremely costly and time-consuming. Current methods attempt to reduce this burden but still rely on some form of human labeling. To completely eliminate this dependency, we introduce ALISE, a novel framework that performs LiDAR instance segmentation without any annotations. The central challenge is to generate high-quality pseudo-labels in a fully unsupervised manner. Our approach starts by employing Vision Foundation Models (VFMs), guided by text and images, to produce initial pseudo-labels. We then refine these labels through a dedicated spatio-temporal voting module, which combines 2D and 3D semantics for both offline and online optimization. To achieve superior feature learning, we further introduce two forms of semantic supervision: a set of 2D prior-based losses that inject visual knowledge into the 3D network, and a novel prototype-based contrastive loss that builds a discriminative feature space by exploiting 3D semantic consistency. This comprehensive design results in significant performance gains, establishing a new state-of-the-art for unsupervised 3D instance segmentation. Remarkably, our approach even outperforms MWSIS, a method that operates with supervision from ground-truth (GT) 2D bounding boxes by a margin of 2.53% in mAP (50.95% vs. 48.42%). |
| title | ALISE: Annotation-Free LiDAR Instance Segmentation for Autonomous Driving |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2510.05752 |