TGR-T: Truncated-Gaussian-Weighted Reliability for Adaptive Dynamic Thresholding in Weakly Supervised Indoor 3D Point Cloud Segmentation

Indoor 3D point cloud semantic segmentation is a fundamental task for fine-grained scene understanding and intelligent perception. Due to the prohibitive cost of dense point-wise annotations, weakly supervised learning has emerged as a promising alternative for indoor point cloud segmentation. However, existing weakly supervised methods commonly rely on fixed confidence thresholds for pseudo-label selection, which exhibit limited generalization caused by threshold sensitivity, underutilization of informative low-confidence regions, and progressive noise accumulation during self-training. To address these issues, we propose TGR-T, a weakly supervised framework for indoor 3D point cloud semantic segmentation that incorporates truncated-Gaussian-weighted reliability with adaptive dynamic thresholding. Specifically, a reliability-adaptive dynamic thresholding strategy is introduced to guide pseudo-label selection based on the evolving confidence statistics of unlabeled mini-batches, with exponential moving average smoothing employed to produce stable global estimates and robust separation of reliable and ambiguous regions. To further exploit uncertain regions, a learnable truncated Gaussian weighting function is designed to explicitly model prediction uncertainty within the ambiguous set, providing soft supervision by assigning adaptive weights to low-confidence predictions during optimization. Extensive experimental results demonstrate that the proposed framework significantly enhances the exploitation of unlabeled data under extremely limited supervision: extensive experiments conducted on standard indoor 3D scene benchmarks demonstrate that TGR-T achieves competitive or superior segmentation performance under extremely sparse supervision and can even outperform several fully supervised baselines trained with dense annotations while using only 1% labeled points, thereby substantially narrowing the performance gap between weakly supervised and fully supervised 3D semantic segmentation methods.