相关论文: Finetuning Pre-trained Model with Limited Data for…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

Deep learning models such as convolutional neural networks and transformers have been widely applied to solve 3D object detection problems in the domain of autonomous driving. While existing models have achieved outstanding performance on…

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…

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…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

The paradigm of large-scale pre-training followed by downstream fine-tuning has been widely employed in various object detection algorithms. In this paper, we reveal discrepancies in data, model, and task between the pre-training and…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

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 detectors frequently encounter significant performance degradation when confronted with domain gaps between collected data (source domain) and data from real-world applications (target domain). To address this task, numerous…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

Adapter-Tuning (AT) method involves freezing a pre-trained model and introducing trainable adapter modules to acquire downstream knowledge, thereby calibrating the model for better adaptation to downstream tasks. This paper proposes a…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Fine-tuning pre-trained neural network models has become a widely adopted approach across various domains. However, it can lead to the distortion of pre-trained feature extractors that already possess strong generalization capabilities.…

Domain adaptation for Cross-LiDAR 3D detection is challenging due to the large gap on the raw data representation with disparate point densities and point arrangements. By exploring domain-invariant 3D geometric characteristics and motion…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

Object detection is essential in space applications targeting Space Domain Awareness and also applications involving relative navigation scenarios. Current deep learning models for Object Detection in space applications are often trained on…

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…