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Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…
Semantic segmentation provides pixel-level scene understanding essential for autonomous driving and fine-grained perception tasks. However, training segmentation models requires costly, labor-intensive annotations on real-world datasets.…
The point cloud representation of an object can have a large geometric variation in view of inconsistent data acquisition procedure, which thus leads to domain discrepancy due to diverse and uncontrollable shape representation cross…
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)…
As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…
Simulation data can be accurately labeled and have been expected to improve the performance of data-driven algorithms, including object detection. However, due to the various domain inconsistencies from simulation to reality…
Deep perception models have to reliably cope with an open-world setting of domain shifts induced by different geographic regions, sensor properties, mounting positions, and several other reasons. Since covering all domains with annotated…
Understanding point clouds captured from the real-world is challenging due to shifts in data distribution caused by varying object scales, sensor angles, and self-occlusion. Prior works have addressed this issue by combining recent learning…
Unsupervised domain adaptation (UDA) is important for applications where large scale annotation of representative data is challenging. For semantic segmentation in particular, it helps deploy on real "target domain" data models that are…
Unsupervised domain adaptation for LiDAR-based 3D object detection (3D UDA) based on the teacher-student architecture with pseudo labels has achieved notable improvements in recent years. Although it is quite popular to collect point clouds…
Unsupervised Domain Adaptation (UDA) for point cloud classification is an emerging research problem with relevant practical motivations. Reliance on multi-task learning to align features across domains has been the standard way to tackle…
Simulators can efficiently generate large amounts of labeled synthetic data with perfect supervision for hard-to-label tasks like semantic segmentation. However, they introduce a domain gap that severely hurts real-world performance. We…
Unsupervised domain adaptation (UDA) is vital for alleviating the workload of labeling 3D point cloud data and mitigating the absence of labels when facing a newly defined domain. Various methods of utilizing images to enhance the…
In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…
Unsupervised Domain Adaptation (UDA) aims to transfer the knowledge from the labeled source domain to the unlabeled target domain in the presence of dataset shift. Most existing methods cannot address the domain alignment and class…
Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…
Unsupervised sim-to-real domain adaptation (UDA) for semantic segmentation aims to improve the real-world test performance of a model trained on simulated data. It can save the cost of manually labeling data in real-world applications such…
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…
Domain Adaptation (DA) approaches achieved significant improvements in a wide range of machine learning and computer vision tasks (i.e., classification, detection, and segmentation). However, as far as we are aware, there are few methods…
Unsupervised Domain Adaptation (UDA) aims at improving the generalization capability of a model trained on a source domain to perform well on a target domain for which no labeled data is available. In this paper, we consider the semantic…