论文标题

在德国的训练,在美国测试:制造3D对象探测器概括

Train in Germany, Test in The USA: Making 3D Object Detectors Generalize

论文作者

Wang, Yan, Chen, Xiangyu, You, Yurong, Erran, Li, Hariharan, Bharath, Campbell, Mark, Weinberger, Kilian Q., Chao, Wei-Lun

论文摘要

在自动驾驶的领域中,深度学习已大大提高了LiDAR和立体声相机数据的3D对象检测精度。尽管深层网络擅长概括,但它们也臭名昭著,可以过度拟合各种虚假的人工制品,例如亮度,汽车尺寸和模型,这些人物可能会在整个数据中始终如一地出现。实际上,大多数用于自动驾驶的数据集通常在一个国家内的一个狭窄城市中,通常在类似的天气条件下。在本文中,我们考虑将3D对象检测器从一个数据集中调整到另一个数据集的任务。我们观察到天真的,这似乎是一项非常具有挑战性的任务,导致精度水平的大幅下降。我们提供了广泛的实验来研究真正的适应挑战并得出令人惊讶的结论:要克服的主要适应障碍是整个地理区域的汽车尺寸差异。基于平均汽车尺寸的简单校正可对适应差距进行强烈的校正。我们提出的方法简单且容易地整合到大多数3D对象检测框架中。它为整个国家提供了3D对象检测适应的第一个基准,并希望潜在的问题可能比人们希望相信的更多。我们的代码可从https://github.com/cxy1997/3d_adapt_auto_driving获得。

In the domain of autonomous driving, deep learning has substantially improved the 3D object detection accuracy for LiDAR and stereo camera data alike. While deep networks are great at generalization, they are also notorious to over-fit to all kinds of spurious artifacts, such as brightness, car sizes and models, that may appear consistently throughout the data. In fact, most datasets for autonomous driving are collected within a narrow subset of cities within one country, typically under similar weather conditions. In this paper we consider the task of adapting 3D object detectors from one dataset to another. We observe that naively, this appears to be a very challenging task, resulting in drastic drops in accuracy levels. We provide extensive experiments to investigate the true adaptation challenges and arrive at a surprising conclusion: the primary adaptation hurdle to overcome are differences in car sizes across geographic areas. A simple correction based on the average car size yields a strong correction of the adaptation gap. Our proposed method is simple and easily incorporated into most 3D object detection frameworks. It provides a first baseline for 3D object detection adaptation across countries, and gives hope that the underlying problem may be more within grasp than one may have hoped to believe. Our code is available at https://github.com/cxy1997/3D_adapt_auto_driving.

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