相关论文: Towards Cross-Platform Generalization: Domain Adap…

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…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

Training (source) domain bias affects state-of-the-art object detectors, such as Faster R-CNN, when applied to new (target) domains. To alleviate this problem, researchers proposed various domain adaptation methods to improve object…

Source-free domain-adaptive object detection is an interesting but scarcely addressed topic. It aims at adapting a source-pretrained detector to a distinct target domain without resorting to source data during adaptation. So far, there is…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

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…

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…

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited…

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

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…

We focus on bridging domain discrepancy in lane detection among different scenarios to greatly reduce extra annotation and re-training costs for autonomous driving. Critical factors hinder the performance improvement of cross-domain lane…

In this paper, we propose subspace alignment based domain adaptation of the state of the art RCNN based object detector. The aim is to be able to achieve high quality object detection in novel, real world target scenarios without requiring…

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and…

To reduce annotation labor associated with object detection, an increasing number of studies focus on transferring the learned knowledge from a labeled source domain to another unlabeled target domain. However, existing methods assume that…

While recent advancement of domain adaptation techniques is significant, most of methods only align a feature extractor and do not adapt a classifier to target domain, which would be a cause of performance degradation. We propose novel…

Can we detect common objects in a variety of image domains without instance-level annotations? In this paper, we present a framework for a novel task, cross-domain weakly supervised object detection, which addresses this question. For this…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

Cross-domain object detection is more challenging than object classification since multiple objects exist in an image and the location of each object is unknown in the unlabeled target domain. As a result, when we adapt features of…

Monocular 3D object detection (Mono3D) has achieved tremendous improvements with emerging large-scale autonomous driving datasets and the rapid development of deep learning techniques. However, caused by severe domain gaps (e.g., the field…