相关论文: DALI: Domain Adaptive LiDAR Object Detection via D…

3D object detection from point clouds is crucial in safety-critical autonomous driving. Although many works have made great efforts and achieved significant progress on this task, most of them suffer from expensive annotation cost and poor…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

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…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…

Most existing studies on unsupervised domain adaptation (UDA) assume that each domain's training samples come with domain labels (e.g., painting, photo). Samples from each domain are assumed to follow the same distribution and the domain…

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

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…

Domain adaptation (DA) enables knowledge transfer from a labeled source domain to an unlabeled target domain by reducing the cross-domain distribution discrepancy. Most prior DA approaches leverage complicated and powerful deep neural…

Unsupervised domain adaptation (UDA) aims to transfer the knowledge from the labeled source domain to the unlabeled target domain. Existing self-training based UDA approaches assign pseudo labels for target data and treat them as ground…

Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…

Domain Adaptive Object Detection (DAOD) models a joint distribution of images and labels from an annotated source domain and learns a domain-invariant transformation to estimate the target labels with the given target domain images.…

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 Domain Adaptation (UDA) technique has been explored in 3D cross-domain tasks recently. Though preliminary progress has been made, the performance gap between the UDA-based 3D model and the supervised one trained with fully…

We consider the problem of cross-sensor domain adaptation in the context of LiDAR-based 3D object detection and propose Stationary Object Aggregation Pseudo-labelling (SOAP) to generate high quality pseudo-labels for stationary objects. In…

The image-based 3D object detection task expects that the predicted 3D bounding box has a ``tightness'' projection (also referred to as cuboid), which fits the object contour well on the image while still keeping the geometric attribute on…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Annotating real-world LiDAR point clouds for use in intelligent autonomous systems is costly. To overcome this limitation, self-training-based Unsupervised Domain Adaptation (UDA) has been widely used to improve point cloud semantic…