Core Concepts
3D Object Detection Domain Generalization through Density-Resampling Method
Abstract
Point-cloud-based 3D object detection faces challenges with domain gaps.
Single-domain generalization (SDG) aims to enhance model generalizability.
Proposed SDG method introduces novel data augmentation and multi-task learning.
Physical-aware density-resampling data augmentation (PDDA) mitigates performance loss from diverse point densities.
Multi-task learning includes self-supervised 3D scene restoration for better object recognition.
Test-time adaptation method efficiently adjusts encoder parameters for unseen domains.
Outperforms state-of-the-art SDG methods and some UDA methods in experiments.
Stats
Point density plays a crucial role in 3D object detection.
Extensive cross-dataset experiments demonstrate method outperforms others.
Quotes
"To tackle the erroneous object detections caused by diverse point densities, we design a straightforward yet effective universal physical-aware density-resampling data augmentation method for the source training."
"Extensive cross-dataset experiments covering “Car”, “Pedestrian”, and “Cyclist” detections demonstrate our model outperforms the state-of-the-art DG methods and even overpass UDA methods under some circumstances."