[CVPR 2025] Relation3D: Enhancing Relation Modeling for Point Cloud Instance Segmentation Paper

Jiahao Lu and Jiacheng Deng

🔥 News:

• Feb, 2025. Relation3D accepted by CVPR 2025.
• October, 2024. Relation3D achieves state-of-the-art performance in mAP, AP@50, and AP@25 on the hidden test set of ScanNetv2 (hidden test).
  

🛠️ TODO List:

• [✔] Release training and evalution code.

Get Started

Environment

Install dependencies and install segmentator from this repo.

# install attention_rpe_ops
cd lib/attention_rpe_ops && python3 setup.py install && cd ../../

# install pointgroup_ops
cd relation3d/lib && python3 setup.py develop && cd ../../

# install Relation3D
python3 setup.py develop

# install other dependencies
pip install -r requirements.txt

Note: Make sure you have installed gcc and cuda, and nvcc can work (if you install cuda by conda, it won't provide nvcc and you should install cuda manually.)

Datasets Preparation

ScanNetv2

(1) Download the ScanNet v2 dataset.

(2) Put the data in the corresponding folders.

• Copy the files [scene_id]_vh_clean_2.ply, [scene_id]_vh_clean_2.labels.ply, [scene_id]_vh_clean_2.0.010000.segs.json and [scene_id].aggregation.json into the dataset/scannetv2/train and dataset/scannetv2/val folders according to the ScanNet v2 train/val split.

• Copy the files [scene_id]_vh_clean_2.ply into the dataset/scannetv2/test folder according to the ScanNet v2 test split.

• Put the file scannetv2-labels.combined.tsv in the dataset/scannetv2 folder.

The dataset files are organized as follows.

Relation3D
├── dataset
│   ├── scannetv2
│   │   ├── train
│   │   │   ├── [scene_id]_vh_clean_2.ply & [scene_id]_vh_clean_2.labels.ply & [scene_id]_vh_clean_2.0.010000.segs.json & [scene_id].aggregation.json
│   │   ├── val
│   │   │   ├── [scene_id]_vh_clean_2.ply & [scene_id]_vh_clean_2.labels.ply & [scene_id]_vh_clean_2.0.010000.segs.json & [scene_id].aggregation.json
│   │   ├── test
│   │   │   ├── [scene_id]_vh_clean_2.ply 
│   │   ├── scannetv2-labels.combined.tsv

(3) Generate input files [scene_id]_inst_nostuff.pth for instance segmentation.

cd dataset/scannetv2
python prepare_data_inst_with_normal.py.py --data_split train
python prepare_data_inst_with_normal.py.py --data_split val
python prepare_data_inst_with_normal.py.py --data_split test

ScanNet200

Following Mask3D to preprocess ScanNet200 (we only use the generated semantic labels and instance labels).

The preprocessed dataset files are organized as follows.

Relation3D
├── dataset
│   ├── scannet200
│   │   ├── train
│   │   │   ├── {scene:04}_{sub_scene:02}.npy
│   │   ├── val
│   │   │   ├── {scene:04}_{sub_scene:02}.npy
│   │   ├── test
│   │   │   ├── {scene:04}_{sub_scene:02}.npy

Training

ScanNetv2

Download SSTNet pretrained model and put into checkpoints/.

python3 tools/train.py configs/scannet/relation3d_scannet.yaml

ScanNet200

Use the weight pretrained on scannet as the initialization (change the train.pretrain in configs/scannet/relation3d_scannet200.yaml)

python3 tools/train200.py configs/scannet/relation3d_scannet200.yaml

Validation

ScanNetv2

python3 tools/test.py configs/scannet/relation3d_scannet.yaml [MODEL_PATH] 

ScanNet200

python3 tools/test200.py configs/scannet/relation3d_scannet200.yaml [MODEL_PATH] 

Pre-trained Models

dataset	AP	AP_50%	AP_25%	Download
ScanNetv2	62.4	80.4	87.1	Model Weight
ScanNet200	31.6	41.2	45.6	Model Weight

Citation

If you find this project useful, please consider citing:

@inproceedings{lu2025relation3d,
  title={Relation3D: Enhancing Relation Modeling for Point Cloud Instance Segmentation},
  author={Lu, Jiahao and Deng, Jiacheng},
  booktitle={Proceedings of the Computer Vision and Pattern Recognition Conference},
  pages={8889--8899},
  year={2025}
}

Acknowledgements

Our code is based on Mask3D, MAFT, Relation-DETR. We thank the authors for their excellent work!

Our Recent Works on 3D Point Cloud

• SAS: Segment Any 3D Scene with Integrated 2D Priors [Paper] [Code] : The first work attempts to integrate multiple 2D scene understanding models for 3D tasks.