You are provided with the abstract of a scientific paper and the abstracts of the papers it references. Your task is to write a Related Work section for the main paper. This section should concisely summarize and integrate the key points from the cited abstracts, reflecting how they relate to the main paper's contributions and context. In your summary, use numerical citation markers like [1], [2], etc., to refer to the corresponding papers.

Main Abstract:
Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the natural class im-balance observed in nature. For example, a 3D scan of an urban environment will consist mostly of road and facade, whereas other objects such as poles will be under-represented. In this paper we address this issue by employing a weighted augmentation to increase classes that contain fewer points. By mitigating the class im-balance present in the data we demonstrate that a standard PointNet++ deep neural network can achieve higher performance at inference on validation data. This was observed as an increase of F1 score of 19 and 25 on two test benchmark datasets; ScanNet and Semantic3D respectively where no class im-balance pre-processing had been performed. Our networks performed better on both highly-represented and under-represented classes, which indicates that the network is learning more robust and meaningful features when the loss function is not overly exposed to only a few classes.

Cited Abstract(s):
[1]: It is a difficult task to classify images with multiple class labels using only a small number of labeled examples, especially when the label (class) distribution is imbalanced. Emotion classification is such an example of imbalanced label distribution, because some classes of emotions like are relatively rare comparing to other labels like happy or sad . In this paper, we propose a data augmentation method using generative adversarial networks (GAN). It can complement and complete the data manifold and find better margins between neighboring classes. Specifically, we design a framework with a CNN model as the classifier and a cycle-consistent adversarial networks (CycleGAN) as the generator. In order to avoid gradient vanishing problem, we employ the least-squared loss as adversarial loss. We also propose several evaluation methods on three benchmark datasets to validate GAN's performance. Empirical results show that we can obtain 5 10 increase in the classification accuracy after employing the GAN-based data augmentation techniques.
More recently, [1] have proposed the use of Generative Adverserial Networks (GAN) to generate data from the distribution of the data. By supplementing the data manifold with an approximation from the distribution, classification rates were shown to improve by 5