相关论文: Topology-Aware Modeling for Unsupervised Simulatio…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

By leveraging data from a fully labeled source domain, unsupervised domain adaptation (UDA) improves classification performance on an unlabeled target domain through explicit discrepancy minimization of data distribution or adversarial…

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…

Recently 3D point cloud learning has been a hot topic in computer vision and autonomous driving. Due to the fact that it is difficult to manually annotate a qualitative large-scale 3D point cloud dataset, unsupervised domain adaptation…

Annotating objects with 3D bounding boxes in LiDAR pointclouds is a costly human driven process in an autonomous driving perception system. In this paper, we present a method to semi-automatically annotate real-world pointclouds collected…

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

Topological Data Analysis (TDA) allows us to extract powerful topological and higher-order information on the global shape of a data set or point cloud. Tools like Persistent Homology or the Euler Transform give a single complex description…

We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object…

Domain shift happens in cross-domain scenarios commonly because of the wide gaps between different domains: when applying a deep learning model well-trained in one domain to another target domain, the model usually performs poorly. To…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

Unsupervised domain adaptation (UDA) aims to learn transferable knowledge from a labeled source domain and adapts a trained model to an unlabeled target domain. To bridge the gap between source and target domains, one prevailing strategy is…

Source Free Unsupervised Domain Adaptation (SFUDA) is critical for deploying deep learning models across diverse clinical settings. However, existing methods are typically designed for low-gap, specific domain shifts and cannot generalize…

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…

Image-based learning methods for autonomous vehicle perception tasks require large quantities of labelled, real data in order to properly train without overfitting, which can often be incredibly costly. While leveraging the power of…

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…

The method for image-to-point cloud registration typically determines the rigid transformation using a coarse-to-fine pipeline. However, directly and uniformly matching image patches with point cloud patches may lead to focusing on…

Semantic image segmentation is a central and challenging task in autonomous driving, addressed by training deep models. Since this training draws to a curse of human-based image labeling, using synthetic images with automatically generated…

Self-supervised learning (SSL) is a technique for learning useful representations from unlabeled data. It has been applied effectively to domain adaptation (DA) on images and videos. It is still unknown if and how it can be leveraged for…

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised…