SGRec3D: Self-Supervised Pre-training for 3D Scene Graph prediction

Sebastian Koch

Bosch Corporate Research / Ulm University

Pedro Hermosilla

Ulm University

Narunas Vaskevicius

Bosch Corporate Research

Mirco Colosi

Bosch Corporate Research

Timo Ropinski

Ulm University

IEEE/CVF Winter Conference on Applications of Computer Vision 2024


In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully supervised manner is inherently difficult as it requires not only object-level annotations but also relationship labels. While pre-training approaches have helped to boost the performance of many methods in various fields, pre-training for 3D scene graph prediction has received little attention. Furthermore, we find in this paper that classical contrastive point cloud-based pre-training approaches are ineffective for 3D scene graph learning. To this end, we present SGRec3D, a novel self-supervised pre-training method for 3D scene graph prediction. We propose to reconstruct the 3D input scene from a graph bottleneck as a pretext task. Pre-training SGRec3D does not require object relationship labels, making it possible to exploit large-scale 3D scene understanding datasets, which were off-limits for 3D scene graph learning before. Our experiments demonstrate that in contrast to recent point cloud-based pre-training approaches, our proposed pre-training improves the 3D scene graph prediction considerably, which results in SOTA performance, outperforming other 3D scene graph models by +10% on object prediction and +4% on relationship prediction. Additionally, we show that only using a small subset of 10% labeled data during fine-tuning is sufficient to outperform the same model without pre-training.


	title={SGRec3D: Self-Supervised Pre-training for 3D Scene Graph prediction},
	author={Koch, Sebastian and Hermosilla, Pedro and Vaskevicius, Narunas and Colosi, Mirco and Ropinski, Timo},
	booktitle={Proceedings of IEEE/CVF Winter Conference on Applications of Computer Vision}