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Diffusion-SS3D: Diffusion Model for Semi-supervised 3D Object Detection

Cheng-Ju Ho · Chen-Hsuan Tai · Yen-Yu Lin · Ming-Hsuan Yang · Yi-Hsuan Tsai

Great Hall & Hall B1+B2 (level 1) #209
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Tue 12 Dec 8:45 a.m. PST — 10:45 a.m. PST


Semi-supervised object detection is crucial for 3D scene understanding, efficiently addressing the limitation of acquiring large-scale 3D bounding box annotations. Existing methods typically employ a teacher-student framework with pseudo-labeling to leverage unlabeled point clouds. However, producing reliable pseudo-labels in a diverse 3D space still remains challenging. In this work, we propose Diffusion-SS3D, a new perspective of enhancing the quality of pseudo-labels via the diffusion model for semi-supervised 3D object detection. Specifically, we include noises to produce corrupted 3D object size and class label distributions, and then utilize the diffusion model as a denoising process to obtain bounding box outputs. Moreover, we integrate the diffusion model into the teacher-student framework, so that the denoised bounding boxes can be used to improve pseudo-label generation, as well as the entire semi-supervised learning process. We conduct experiments on the ScanNet and SUN RGB-D benchmark datasets to demonstrate that our approach achieves state-of-the-art performance against existing methods. We also present extensive analysis to understand how our diffusion model design affects performance in semi-supervised learning. The source code will be available at

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