  The annotation of 3D datasets is required for semantic-segmentation and
object detection in scene understanding. In this paper we present a framework
for the weakly supervision of a point clouds transformer that is used for 3D
object detection. The aim is to decrease the required amount of supervision
needed for training, as a result of the high cost of annotating a 3D datasets.
We propose an Unsupervised Voting Proposal Module, which learns randomly preset
anchor points and uses voting network to select prepared anchor points of high
quality. Then it distills information into student and teacher network. In
terms of student network, we apply ResNet network to efficiently extract local
characteristics. However, it also can lose much global information. To provide
the input which incorporates the global and local information as the input of
student networks, we adopt the self-attention mechanism of transformer to
extract global features, and the ResNet layers to extract region proposals. The
teacher network supervises the classification and regression of the student
network using the pre-trained model on ImageNet. On the challenging KITTI
datasets, the experimental results have achieved the highest level of average
precision compared with the most recent weakly supervised 3D object detectors.

Computer Vision and Pattern Recognition;Artificial Intelligence;Robotics