LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D object detection using LiDAR, i.e., far-range observations are adapted to near-range. This way, far-range detection is optimized for similar performance to near-range one. We adopt a bird-eyes view (BEV) detection framework to perform the proposed model adaptation. Our model adaptation consists of an adversarial global adaptation, and a fine-grained local adaptation. The proposed cross range adaptation framework is validated on three state-of-the-art LiDAR based object detection networks, and we consistently observe performance improvement on the far-range objects, without adding any auxiliary parameters to the model. To the best of our knowledge, this paper is the first attempt to study cross-range LiDAR adaptation for object detection in point clouds. To demonstrate the generality of the proposed adaptation framework, experiments on more challenging cross-device adaptation are further conducted, and a new LiDAR dataset with high-quality annotated point clouds is released to promote future research.
@article{arxiv.1909.12249,
title = {Range Adaptation for 3D Object Detection in LiDAR},
author = {Ze Wang and Sihao Ding and Ying Li and Minming Zhao and Sohini Roychowdhury and Andreas Wallin and Guillermo Sapiro and Qiang Qiu},
journal= {arXiv preprint arXiv:1909.12249},
year = {2019}
}