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.