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For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment---ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (eg, unlabeled LiDAR point clouds) collected from the end-users' environments (ie target domain) to adapt the system to the difference between training and testing environments. While extensive research has been done on such an unsupervised domain adaptation problem, one fundamental problem lingers: there is no reliable signal in the target domain to supervise the adaptation process. To overcome this issue we observe that it is easy to collect unsupervised data from multiple traversals of repeated routes. While different from conventional unsupervised domain adaptation, this assumption is extremely realistic since many drivers share the same roads. We show that this simple additional assumption is sufficient to obtain a potent signal that allows us to perform iterative self-training of 3D object detectors on the target domain. Concretely, we generate pseudo-labels with the out-of-domain detector but reduce false positives by removing detections of supposedly mobile objects that are persistent across traversals. Further, we reduce false negatives by encouraging predictions in regions that are not persistent. We experiment with our approach on two large-scale driving datasets and show remarkable improvement in 3D object detection of cars, pedestrians, and cyclists, bringing us a step closer to generalizable autonomous driving.
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Exploiting Playbacks in Unsupervised Domain Adaptation for 3D Object Detection
Self-driving cars must detect other traffic partici- pants like vehicles and pedestrians in 3D in order to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit domain idiosyncrasies, making them fail in new environments—a serious problem for the robustness of self-driving cars. In this paper, we propose a novel learning approach that reduces this gap by fine-tuning the detector on high-quality pseudo-labels in the target domain – pseudo- labels that are automatically generated after driving based on replays of previously recorded driving sequences. In these replays, object tracks are smoothed forward and backward in time, and detections are interpolated and extrapolated— crucially, leveraging future information to catch hard cases such as missed detections due to occlusions or far ranges. We show, across five autonomous driving datasets, that fine-tuning the object detector on these pseudo-labels substantially reduces the domain gap to new driving environments, yielding strong improvements detection reliability and accuracy.
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- Award ID(s):
- 2107161
- PAR ID:
- 10350980
- Date Published:
- Journal Name:
- Proceedings of the IEEE International Conference on Robotics and Automation
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
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