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Range adaptation for 3d object detection in LiDAR

Publication ,  Journal Article
Wang, Z; DIng, S; Li, Y; Zhao, M; Roychowdhury, S; Wallin, A; Sapiro, G; Qiu, Q
Published in: Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019
October 1, 2019

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 detection using LiDAR, i.e., far-range observations are adapted to near-range. This way, far-range detection is optimized for similar performance to near-range one. We adopt a bird-eyes view (BEV) detection framework to perform the proposed model adaptation. Our model adaptation consists of an adversarial global adaptation, and a fine-grained local adaptation. The proposed cross-range adaptation framework is validated on three state-of-the-art LiDAR based object detection networks, and we consistently observe performance improvement on the far-range objects, without adding any auxiliary parameters to the model. To the best of our knowledge, this paper is the first attempt to study cross-range LiDAR adaptation for object detection in point clouds. To demonstrate the generality of the proposed adaptation framework, experiments on more challenging cross-device adaptation are further conducted, and a new LiDAR dataset with high-quality annotated point clouds is released to promote future research.

Duke Scholars

Published In

Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019

DOI

Publication Date

October 1, 2019

Start / End Page

2320 / 2328
 

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Wang, Z., DIng, S., Li, Y., Zhao, M., Roychowdhury, S., Wallin, A., … Qiu, Q. (2019). Range adaptation for 3d object detection in LiDAR. Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019, 2320–2328. https://doi.org/10.1109/ICCVW.2019.00285
Wang, Z., S. DIng, Y. Li, M. Zhao, S. Roychowdhury, A. Wallin, G. Sapiro, and Q. Qiu. “Range adaptation for 3d object detection in LiDAR.” Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019, October 1, 2019, 2320–28. https://doi.org/10.1109/ICCVW.2019.00285.
Wang Z, DIng S, Li Y, Zhao M, Roychowdhury S, Wallin A, et al. Range adaptation for 3d object detection in LiDAR. Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019. 2019 Oct 1;2320–8.
Wang, Z., et al. “Range adaptation for 3d object detection in LiDAR.” Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019, Oct. 2019, pp. 2320–28. Scopus, doi:10.1109/ICCVW.2019.00285.
Wang Z, DIng S, Li Y, Zhao M, Roychowdhury S, Wallin A, Sapiro G, Qiu Q. Range adaptation for 3d object detection in LiDAR. Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019. 2019 Oct 1;2320–2328.

Published In

Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019

DOI

Publication Date

October 1, 2019

Start / End Page

2320 / 2328