Related papers: Approaching Outside: Scaling Unsupervised 3D Objec…

We tackle semi-supervised object detection based on motion cues. Recent results suggest that heuristic-based clustering methods in conjunction with object trackers can be used to pseudo-label instances of moving objects and use these as…

Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object…

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…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

Lane detection has evolved highly functional autonomous driving system to understand driving scenes even under complex environments. In this paper, we work towards developing a generalized computer vision system able to detect lanes without…

Training image-based object detectors presents formidable challenges, as it entails not only the complexities of object detection but also the added intricacies of precisely localizing objects within potentially diverse and noisy…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Current 3D object detection methods heavily rely on an enormous amount of annotations. Semi-supervised learning can be used to alleviate this issue. Previous semi-supervised 3D object detection methods directly follow the practice of…

Existing approaches to unsupervised object discovery (UOD) do not scale up to large datasets without approximations that compromise their performance. We propose a novel formulation of UOD as a ranking problem, amenable to the arsenal of…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

In recent years, deep learning technology has been maturely applied in the field of object detection, and most algorithms tend to be supervised learning. However, a large amount of labeled data requires high costs of human resources, which…

We propose a novel semi-supervised active learning (SSAL) framework for monocular 3D object detection with LiDAR guidance (MonoLiG), which leverages all modalities of collected data during model development. We utilize LiDAR to guide the…