Unsupervised Domain Adaptive 3-D Detection With Data Adaption From LiDAR Point Cloud

Abstract

Existing unsupervised domain adaptive (UDA) 3D detection methods only address the domain gap caused by the prior size of 3D bounding boxes between different datasets, which ignore the difference in the distribution of point clouds. To address this challenge, we propose an unsupervised domain adaptive 3D detection by data adaption, which trains the model by transferring the source domain instances into the target domain scenes by adaptive point distribution. First, an instance transferring method is proposed for selecting and transferring suitable instances from the source domain into the target domain scene; Second, we propose an adaptive downsampling method to adjust the point cloud distribution of the transferred instances to approximate the points distribution of the target domain. Finally, our method trains the randomly initialized detector with the pseudo-instances in the target domain. To the best of our knowledge, we first address the UDA problem of the 3D detectors from the perspective of data. Extensive experiments on several popular datasets show that the proposed method outperforms the existing state-of-the-art methods by a large margin. Further experiments also show our approach is detector-agnostic and achieves consistent and significant gains on all types of 3D detectors.