SPPSFormer: High-Quality Superpoint-Based Transformer for Roof Plane Instance Segmentation from Point Clouds

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Abstract
Superpoint Transformers use superpoints as the basic processing units, thereby significantly reducing the number of tokens processed by Transformers. However, they have been seldom employed in point cloud roof plane instance segmentation, and existing superpoint Transformers suffer from limited performance due to the use of low-quality superpoints. To address this challenge, we establish a set of criteria that high-quality superpoints for Transformers should satisfy and introduce a corresponding two-stage superpoint generation process. The superpoints generated by our method not only have accurate boundaries, but also exhibit consistent geometric sizes and shapes, which greatly benefit the feature learning of superpoint Transformers. To compensate for the limitations of deep learning features when the training set size is limited, we incorporate multidimensional handcrafted features into the model. Additionally, we design a decoder that combines a Kolmogorov–Arnold Network with a Transformer module to improve instance prediction and mask extraction. Finally, our network’s predictions are refined using traditional algorithm-based post-processing. For evaluation, we annotated a real-world dataset and corrected annotation errors in the existing RoofN3D dataset. Experimental results show that our method achieves state-of-the-art performance on our dataset, as well as both the original and corrected RoofN3D datasets. Our model also shows significant advantages over existing methods when handling data with low point density, large density variations, or low 3D point precision. Moreover, it is not sensitive to plane boundary annotations during training, significantly reducing the annotation burden. We will release our code, trained models, and datasets.
Funding Information
  • Hubei Provincial Key Research and Development Program (2025BAB061)
  • Hubei Provincial Major Science and Technology Program (2025BEA001)
  • Wuhan Natural Science Foundation Focused Program (2026040101030022)
  • Key Laboratory of China-ASEAN Satellite Remote Sensing Applications, Ministry of Natural Resources of the People’s Republic of China (KLCARS-2025-G07)
  • Knowledge Innovation Program of Wuhan-Shuguang Project (2023020201020414)
  • Chinese Academy of Surveying and Mapping (2423)
  • National Natural Science Foundation of China (62102136)
  • State Key Laboratory of Spatial Datum (SKLSD2025-KF-19)

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