Related papers: Domain Adaptation-Based Crossmodal Knowledge Disti…

Beyond the complexity of CNNs that require training on large annotated datasets, the domain shift between design and operational data has limited the adoption of CNNs in many real-world applications. For instance, in person…

Online HD map construction is a fundamental task in autonomous driving systems, aiming to acquire semantic information of map elements around the ego vehicle based on real-time sensor inputs. Recently, several approaches have achieved…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

In this work, we explore data augmentations for knowledge distillation on semantic segmentation. To avoid over-fitting to the noise in the teacher network, a large number of training examples is essential for knowledge distillation.…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

3D object detection is one of the fundamental perception tasks for autonomous vehicles. Fulfilling such a task with a 4D millimeter-wave radar is very attractive since the sensor is able to acquire 3D point clouds similar to Lidar while…

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…

State-of-the-art 3D semantic segmentation models are trained on off-the-shelf public benchmarks, but they will inevitably face the challenge of recognition accuracy drop when these well-trained models are deployed to a new domain. In this…

Test-Time Training (TTT) proposes to adapt a pre-trained network to changing data distributions on-the-fly. In this work, we propose the first TTT method for 3D semantic segmentation, TTT-KD, which models Knowledge Distillation (KD) from…

Addressing performance degradation in 3D LiDAR semantic segmentation due to domain shifts (e.g., sensor type, geographical location) is crucial for autonomous systems, yet manual annotation of target data is prohibitive. This study…

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

Unsupervised Domain Adaptation (UDA) is crucial to tackle the lack of annotations in a new domain. There are many multi-modal datasets, but most UDA approaches are uni-modal. In this work, we explore how to learn from multi-modality and…

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…

Source-free domain adaptation (SFDA) alleviates the domain discrepancy among data obtained from domains without accessing the data for the awareness of data privacy. However, existing conventional SFDA methods face inherent limitations in…

LiDAR point cloud segmentation is one of the most fundamental tasks for autonomous driving scene understanding. However, it is difficult for existing models to achieve both high inference speed and accuracy simultaneously. For example,…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Knowledge Distillation (KD) is a strategy for the definition of a set of transferability gangways to improve the efficiency of Convolutional Neural Networks. Feature-based Knowledge Distillation is a subfield of KD that relies on…

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)…