Dual-Branch Point Cloud Semantic Segmentation: An EMA-Based Teacher–Student Collaborative Learning Framework
Abstract
Point cloud semantic segmentation remains challenging under extremely low annotation budgets due to inefficient utilization of sparse labels and sensitivity to data augmentation noise. To address this, we propose a dual-branch consistency learning (DBCL) framework featuring an EMA teacher for semi-supervised point cloud segmentation. Our core innovation lies in a unified consistency regularization scheme that enforces prediction-level alignment via JS divergence and feature-level contrastive learning, while a geometry-aware Laplacian smoothing term preserves local structural consistency. Extensive experiments demonstrate that DBCL achieves 68.56% mIoU on S3DIS with only 0.1% labels, outperforming existing semi-supervised methods and even matching some fully supervised baselines.
Fields of Study & Subjects
3D Shape Modeling and Analysis
Model Reduction and Neural Networks
Robot Manipulation and Learning
Publication details
- Journal / source
- Sensors
- Publisher
- MDPI AG
- Volume
- 26
- Issue
- 2
- Pages
- 450–450
- Publication date
- 9 January 2026
- Language
- EN