Diffusion probabilistic models are traditionally used to generate colors at fixed pixel positions in 2D images. Building on this, we extend diffusion models to point cloud semantic segmentation, where point positions also remain fixed, and the diffusion model generates point labels instead of colors. To accelerate the denoising process in reverse diffusion, we introduce a noisy label embedding mechanism. This approach integrates semantic information into the noisy label, providing an initial semantic reference that improves the reverse diffusion efficiency. Additionally, we propose a point frequency transformer that enhances the adjustment of high-level context in point clouds. To reduce computational complexity, we introduce the position condition into MLP and propose denoising PointNet to process the high-resolution point cloud without sacrificing geometric details. Finally, we integrate the proposed noisy label embedding, point frequency transformer and denoising PointNet in our proposed dual conditional diffusion model-based network (PointDiffuse) to perform large-scale point cloud semantic segmentation. Extensive experiments on five benchmarks demonstrate the superiority of PointDiffuse, achieving the state-of-the-art mIoU of 74.2\% on S3DIS Area 5, 81.2\% on S3DIS 6-fold and 64.8\% on SWAN dataset.
View on arXiv@article{he2025_2503.06094,
title={ PointDiffuse: A Dual-Conditional Diffusion Model for Enhanced Point Cloud Semantic Segmentation },
author={ Yong He and Hongshan Yu and Mingtao Feng and Tongjia Chen and Zechuan Li and Anwaar Ulhaq and Saeed Anwar and Ajmal Saeed Mian },
journal={arXiv preprint arXiv:2503.06094},
year={ 2025 }
}