LiDAR place recognition approaches based on deep learning suffer from significant performance degradation when there is a shift between the distribution of training and test datasets, often requiring re-training the networks to achieve peak performance. However, obtaining accurate ground truth data for new training data can be prohibitively expensive, especially in complex or GPS-deprived environments. To address this issue we propose GeoAdapt, which introduces a novel auxiliary classification head to generate pseudo-labels for re-training on unseen environments in a self-supervised manner. GeoAdapt uses geometric consistency as a prior to improve the robustness of our generated pseudo-labels against domain shift, improving the performance and reliability of our Test-Time Adaptation approach. Comprehensive experiments show that GeoAdapt significantly boosts place recognition performance across moderate to severe domain shifts, and is competitive with fully supervised test-time adaptation approaches. Our code is available at https://github.com/csiro-robotics/GeoAdapt.
@article{arxiv.2308.04638,
title = {GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priors},
author = {Joshua Knights and Stephen Hausler and Sridha Sridharan and Clinton Fookes and Peyman Moghadam},
journal= {arXiv preprint arXiv:2308.04638},
year = {2023}
}
Comments
Accepted to IEEE Robotics and Automation Letters (RA-L) November 2023