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

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…

Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a…

In the field of domain adaptation (DA) on 3D object detection, most of the work is dedicated to unsupervised domain adaptation (UDA). Yet, without any target annotations, the performance gap between the UDA approaches and the…

Vehicle-to-Everything (V2X) collaborative perception has recently gained significant attention due to its capability to enhance scene understanding by integrating information from various agents, e.g., vehicles, and infrastructure. However,…

Models trained on a labeled source domain (e.g., labeled images from wildlife camera traps) often generalize poorly when deployed on an out-of-distribution (OOD) target domain (e.g., images from new camera trap locations). In the domain…

For 3D object detection, labeling lidar point cloud is difficult, so data augmentation is an important module to make full use of precious annotated data. As a widely used data augmentation method, GT-sample effectively improves detection…

LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets.…

It is difficult to precisely annotate object instances and their semantics in 3D space, and as such, synthetic data are extensively used for these tasks, e.g., category-level 6D object pose and size estimation. However, the easy annotations…

LiDAR 3D object detection models are inevitably biased towards their training dataset. The detector clearly exhibits this bias when employed on a target dataset, particularly towards object sizes. However, object sizes vary heavily between…

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…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

At the current stage, deep learning-based methods have demonstrated excellent capabilities in evaluating aerodynamic performance, significantly reducing the time and cost required for traditional computational fluid dynamics (CFD)…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

State-of-the-art object detection methods applied to satellite and drone imagery largely fail to identify small and dense objects. One reason is the high variability of content in the overhead imagery due to the terrestrial region captured…

In object detection, data amount and cost are a trade-off, and collecting a large amount of data in a specific domain is labor intensive. Therefore, existing large-scale datasets are used for pre-training. However, conventional transfer…

In autonomous driving, deep models have shown remarkable performance across various visual perception tasks with the demand of high-quality and huge-diversity training datasets. Such datasets are expected to cover various driving scenarios…

LiDAR place recognition approaches based on deep learning suffer from significant performance degradation when there is a shift between the distribution of training and test datasets, often requiring re-training the networks to achieve peak…