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arXiv 2304.02431cs.CV

MS3D:利用多检测器进行3D目标检测中的无监督域适应

MS3D: Leveraging Multiple Detectors for Unsupervised Domain Adaptation in 3D Object Detection

Australian Centre for Field Robotics(澳大利亚野外机器人中心);University of Sydney(悉尼大学)

Darren Tsai, Julie Stephany Berrio, Mao Shan, Eduardo Nebot, Stewart Worrall

AI总结:

MS3D提出一种利用多源域预训练检测器及时间信息融合生成高质量伪标签的自训练流程,通过KDE框融合提升3D目标检测的域适应鲁棒性,并在多个数据集上达到最先进性能。

摘要:

我们引入了多源3D(MS3D),一种用于3D目标检测中无监督域适应的新自训练流程。尽管3D检测器具有显著的准确性,但它们常常过度拟合特定的域偏差,导致在各种传感器设置和环境中的性能次优。现有方法通常侧重于将单个检测器适应到目标域,忽略了不同检测器在不同未见域上拥有不同专业知识的事实。MS3D通过结合来自多个源域的预训练检测器并整合时间信息来利用这一点,从而为微调生成高质量的伪标签。我们提出的核密度估计(KDE)框融合方法融合了来自多个域的框提议,以获得超过最佳源域检测器性能的伪标签。MS3D对域偏移表现出更强的鲁棒性,并在更远距离上产生准确的伪标签,使其非常适合高到低波束域适应及反之亦然。我们的方法在所有评估的数据集上取得了最先进的性能,并证明了预训练检测器的源数据集对微调结果的影响最小,使MS3D适用于现实世界的应用。

英文摘要:

We introduce Multi-Source 3D (MS3D), a new self-training pipeline for unsupervised domain adaptation in 3D object detection. Despite the remarkable accuracy of 3D detectors, they often overfit to specific domain biases, leading to suboptimal performance in various sensor setups and environments. Existing methods typically focus on adapting a single detector to the target domain, overlooking the fact that different detectors possess distinct expertise on different unseen domains. MS3D leverages this by combining different pre-trained detectors from multiple source domains and incorporating temporal information to produce high-quality pseudo-labels for fine-tuning. Our proposed Kernel-Density Estimation (KDE) Box Fusion method fuses box proposals from multiple domains to obtain pseudo-labels that surpass the performance of the best source domain detectors. MS3D exhibits greater robustness to domain shift and produces accurate pseudo-labels over greater distances, making it well-suited for high-to-low beam domain adaptation and vice versa. Our method achieved state-of-the-art performance on all evaluated datasets, and we demonstrate that the pre-trained detector's source dataset has minimal impact on the fine-tuned result, making MS3D suitable for real-world applications.

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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