Point Cloud Semantic Scene Completion with Prototype-Guided Transformer
Abstract
Semantic scene completion simultaneously reconstructs the shapes of missing regions and predicts semantic labels for the entire 3D scene. Although point cloud-based methods are more efficient than voxel-based methods, existing point cloud-based approaches largely fail to fully leverage semantic information. To address this challenge, we propose a Prototype-Guided Transformer (ProtoFormer) that encodes semantic information into a set of semantic prototypes to guide the underlying Transformer for semantic scene completion. Specifically, we leverage semantic prototypes to enhance information from both geometric and semantic perspectives, and integrate the top-K attention mechanisms to guide scene completion and semantic awareness. Extensive qualitative and quantitative experimental results demonstrate that ProtoFormer outperforms state-of-the-art approaches with low complexity.
Fields of Study & Subjects
3D Shape Modeling and Analysis
Robotics and Sensor-Based Localization
3D Surveying and Cultural Heritage
Publication details
- Journal / source
- Proceedings of the AAAI Conference on Artificial Intelligence
- Publisher
- Association for the Advancement of Artificial Intelligence (AAAI)
- Volume
- 40
- Issue
- 5
- Pages
- 3822–3830
- Publication date
- 14 March 2026
- Language
- EN