Enhancing 3D Semantic Scene Completion with a Refinement Module
Enhancing 3D Semantic Scene Completion with a Refinement Module
The paper presents ESSC-RM, a general refinement framework for 3D Semantic Scene Completion (SSC) that can be seamlessly integrated into existing SSC models as a plug-and-play module. The framework operates in two phases: a baseline SSC network first produces a coarse voxel prediction, which is then refined by a 3D U-Net-based architecture incorporating two key components—the Prediction Noise-Aware Module (PNAM) and the Voxel-level Local Geometry Module (VLGM). PNAM enhances multi-scale voxel reasoning by combining global self-attention with localized neighborhood cross-attention, effectively capturing long-range dependencies and local geometric consistency. VLGM leverages frozen vision-language models (e.g., LLaVA, InstructBLIP) to generate free-form scene descriptions, which are encoded via JinaCLIP and Q-Former and fused into the voxel refinement pipeline through Semantic Interaction Guidance (SIGM) and Dual Cross-Attention (DCAM) modules. This injects high-level semantic priors that compensate for missing geometric cues in occluded or ambiguous regions. The refinement module is trained with a multi-scale loss combining class-weighted cross-entropy and Scene-Class Affinity Loss (SCAL), ensuring both voxel-wise accuracy and global semantic coherence. Experiments on the SemanticKITTI benchmark demonstrate consistent improvements: when integrated into CGFormer and MonoScene, the mean IoU increases from 16.87% to 17.27% and from 11.08% to 11.51%, respectively. The framework supports both joint training (co-optimizing refinement and backbone) and separate training (true plug-and-play), making it applicable to a wide range of SSC models without architectural modifications. The results validate ESSC-RM as a general, flexible, and effective refinement solution for 3D semantic scene completion.
Highlights
- 1Proposes ESSC-RM, a plug-and-play refinement framework that enhances any SSC model without modifying its architecture.
- 2Introduces a 3D U-Net-based Prediction Noise-Aware Module (PNAM) with progressive neighborhood attention for multi-scale voxel refinement.
- 3Develops a Visual-Language Guidance Module (VLGM) that injects text-derived semantic priors to improve scene understanding in occluded regions.
- 4Demonstrates consistent mIoU improvements on SemanticKITTI: CGFormer from 16.87% to 17.27%, MonoScene from 11.08% to 11.51%.
- 5Supports both joint training and separate plug-and-play deployment, ensuring flexibility across diverse SSC backbones.
Methods
- M3D U-Net backbone with multi-scale supervision for coarse-to-fine voxel refinement.
- MProgressive Neighborhood Attention Module (PNAM) combining self-attention and neighborhood cross-attention for long-range and local context.
- MVisual-Language Guidance Module (VLGM) using frozen VLMs (e.g., LLaVA) and dual text encoders (JinaCLIP, Q-Former) with SIGM and DCAM fusion.
- MLoss function combining class-weighted cross-entropy and Scene-Class Affinity Loss (SCAL) for geometric and semantic consistency.
Results
- RESSC-RM improves CGFormer mIoU from 16.87% to 17.27% and MonoScene mIoU from 11.08% to 11.51% on SemanticKITTI.
- RThe refinement module consistently boosts both geometric completion (IoU) and semantic accuracy (mIoU) across baselines.
- RVLGM effectively enhances performance in occluded and sparsely observed regions by leveraging text-derived scene priors.
- RPNAM improves fine-structure recovery (e.g., object boundaries, thin geometry) through attention-based multi-scale aggregation.
- RThe framework is model-agnostic and supports both joint and separate training paradigms without backbone modification.
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