arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2210.04801cs.CV
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4D Unsupervised Object Discovery

Institute of Automation, Chinese Academy of Sciences(中国科学院自动化研究所);University of Chinese Academy of Sciences(中国科学院大学);Centre for Artificial Intelligence and Robotics, HKISI_CAS(中国科学院香港创新研究院人工智能与机器人中心)

Yuqi Wang, Yuntao Chen, Zhaoxiang Zhang

英文摘要:

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of annotations is the major limitation hindering further study. Therefore, discovering objects without annotations has great significance. However, this task seems impractical on still-image or point cloud alone due to the lack of discriminative information. Previous studies underlook the crucial temporal information and constraints naturally behind multi-modal inputs. In this paper, we propose 4D unsupervised object discovery, jointly discovering objects from 4D data -- 3D point clouds and 2D RGB images with temporal information. We present the first practical approach for this task by proposing a ClusterNet on 3D point clouds, which is jointly iteratively optimized with a 2D localization network. Extensive experiments on the large-scale Waymo Open Dataset suggest that the localization network and ClusterNet achieve competitive performance on both class-agnostic 2D object detection and 3D instance segmentation, bridging the gap between unsupervised methods and full supervised ones. Codes and models will be made available at https://github.com/Robertwyq/LSMOL.

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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