arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2112.04764cs.CVcs.LGcs.RO

3D-VField:用于3D目标检测中域泛化的点云对抗性增强

3D-VField: Adversarial Augmentation of Point Clouds for Domain Generalization in 3D Object Detection

Technical University of Munich(慕尼黑工业大学);BMW Group(宝马集团);Johns Hopkins University(约翰斯·霍普金斯大学);Google(谷歌)

Alexander Lehner, Stefano Gasperini, Alvaro Marcos-Ramiro, Michael Schmidt, Mohammad-Ali Nikouei Mahani, Nassir Navab, Benjamin Busam, Federico Tombari

AI总结:

提出3D-VField对抗性点云形变增强方法,通过沿视线射线滑动点生成可迁移向量场,在不增删点的情况下提升3D检测器对域外形状的泛化,并发布CrashD损坏车辆数据集验证效果。

摘要:

由于点云上的3D目标检测依赖于点之间的几何关系,非标准的目标形状会妨碍方法的检测能力。然而,在安全关键场景中,对域外和长尾样本的鲁棒性对于规避危险问题(例如损坏或稀有车辆的误检)至关重要。在这项工作中,我们通过在训练期间对点云进行形变,大幅提高了3D目标检测器对域外数据的泛化能力。我们通过3D-VField实现了这一点:一种新颖的数据增强方法,通过以对抗方式学习的向量场对目标进行合理形变。我们的方法约束3D点沿其传感器视线射线滑动,既不添加也不移除任何点。获得的向量是可迁移的、与样本无关的,并保留形状和遮挡。尽管仅在标准数据集(如KITTI)上训练,使用我们的向量场进行增强显著提高了对不同形状目标和场景的泛化能力。为此,我们提出并共享了CrashD:一个包含各种碰撞场景的逼真损坏和稀有车辆的综合数据集。在KITTI、Waymo、我们的CrashD和SUN RGB-D上的大量实验表明,我们的技术对域外数据、不同模型和传感器(即LiDAR和ToF相机)的泛化能力,适用于室内和室外场景。我们的CrashD数据集可在https://crashd-cars.github.io获取。

英文摘要:

As 3D object detection on point clouds relies on the geometrical relationships between the points, non-standard object shapes can hinder a method's detection capability. However, in safety-critical settings, robustness to out-of-domain and long-tail samples is fundamental to circumvent dangerous issues, such as the misdetection of damaged or rare cars. In this work, we substantially improve the generalization of 3D object detectors to out-of-domain data by deforming point clouds during training. We achieve this with 3D-VField: a novel data augmentation method that plausibly deforms objects via vector fields learned in an adversarial fashion. Our approach constrains 3D points to slide along their sensor view rays while neither adding nor removing any of them. The obtained vectors are transferable, sample-independent and preserve shape and occlusions. Despite training only on a standard dataset, such as KITTI, augmenting with our vector fields significantly improves the generalization to differently shaped objects and scenes. Towards this end, we propose and share CrashD: a synthetic dataset of realistic damaged and rare cars, with a variety of crash scenarios. Extensive experiments on KITTI, Waymo, our CrashD and SUN RGB-D show the generalizability of our techniques to out-of-domain data, different models and sensors, namely LiDAR and ToF cameras, for both indoor and outdoor scenes. Our CrashD dataset is available at https://crashd-cars.github.io.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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