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We consider the problem of domain adaptation in LiDAR-based 3D object detection. Towards this, we propose a simple yet effective training strategy called Gradual Batch Alternation that can adapt from a large labeled source domain to an…
Point cloud scene flow estimation is of practical importance for dynamic scene navigation in autonomous driving. Since scene flow labels are hard to obtain, current methods train their models on synthetic data and transfer them to real…
Current state-of-the-art point cloud-based perception methods usually rely on large-scale labeled data, which requires expensive manual annotations. A natural option is to explore the unsupervised methodology for 3D perception tasks.…
Deep learning approaches achieve prominent success in 3D semantic segmentation. However, collecting densely annotated real-world 3D datasets is extremely time-consuming and expensive. Training models on synthetic data and generalizing on…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
LiDAR provides highly accurate 3D point clouds. However, data needs to be manually labelled in order to provide subsequent useful information. Manual annotation of such data is time consuming, tedious and error prone, and hence in this…
Recently, multi-modality models have been introduced because of the complementary information from different sensors such as LiDAR and cameras. It requires paired data along with precise calibrations for all modalities, the complicated…
Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…
Annotating lidar point clouds for autonomous driving is a notoriously expensive and time-consuming task. In this work, we show that the quality of recent self-supervised lidar scan representations allows a great reduction of the annotation…
3D object detection networks tend to be biased towards the data they are trained on. Evaluation on datasets captured in different locations, conditions or sensors than that of the training (source) data results in a drop in model…
Lidar based 3D object detection and classification tasks are essential for automated driving(AD). A Lidar sensor can provide the 3D point coud data reconstruction of the surrounding environment. But the detection in 3D point cloud still…
3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers,…
Point cloud classification is a popular task in 3D vision. However, previous works, usually assume that point clouds at test time are obtained with the same procedure or sensor as those at training time. Unsupervised Domain Adaptation (UDA)…
Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…
In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…
3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…
3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…
Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…
Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…
High quality perception is essential for autonomous driving (AD) systems. To reach the accuracy and robustness that are required by such systems, several types of sensors must be combined. Currently, mostly cameras and laser scanners…