Domain Adaptive Sampling for Cross-Domain Point Cloud Recognition

Abstract

Point cloud recognition has recently gained increasing research interest due to the huge potential in real-world applications such as autonomous driving, robotics, etc. However, the point clouds of similar objects often exhibit notable geometric variations due to the difference in capturing devices or environmental changes. This leads to significant performance degradation when the learned point cloud recognition model is applied to a new scenario, which is also known as the domain adaptation issue. In this work, we propose a new unsupervised domain adaptation approach for point cloud recognition via domain adaptive sampling (DAS). In particular, we propose a two-level sampling strategy of point level and instance level to improve the cross-domain recognition ability of the model. First, we propose a domain adaptive point sampling (DAPS) strategy to enhance the domain-invariant representation of point clouds by progressively focusing on representative points in each point cloud based on geometric consistency. Then, we further propose an instance-level domain adaptive cloud sampling (DACS) strategy to learn target-specific information based on a self-paced learning paradigm, where we select a set of pseudo-labeled target point clouds to train our designed light-weighted adapters without modifying the learned domain-invariant representation. We validate our domain adaptive sampling approach on the benchmark datasets PointDA-10 and GraspNetPC-10, where our method achieves new state-of-the-art performance.