TY - GEN
T1 - GIPSO
T2 - 17th European Conference on Computer Vision, ECCV 2022
AU - Saltori, Cristiano
AU - Krivosheev, Evgeny
AU - Lathuiliére, Stéphane
AU - Sebe, Nicu
AU - Galasso, Fabio
AU - Fiameni, Giuseppe
AU - Ricci, Elisa
AU - Poiesi, Fabio
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022/1/1
Y1 - 2022/1/1
N2 - 3D point cloud semantic segmentation is fundamental for autonomous driving. Most approaches in the literature neglect an important aspect, i.e., how to deal with domain shift when handling dynamic scenes. This can significantly hinder the navigation capabilities of self-driving vehicles. This paper advances the state of the art in this research field. Our first contribution consists in analysing a new unexplored scenario in point cloud segmentation, namely Source-Free Online Unsupervised Domain Adaptation (SF-OUDA). We experimentally show that state-of-the-art methods have a rather limited ability to adapt pre-trained deep network models to unseen domains in an online manner. Our second contribution is an approach that relies on adaptive self-training and geometric-feature propagation to adapt a pre-trained source model online without requiring either source data or target labels. Our third contribution is to study SF-OUDA in a challenging setup where source data is synthetic and target data is point clouds captured in the real world. We use the recent SynLiDAR dataset as a synthetic source and introduce two new synthetic (source) datasets, which can stimulate future synthetic-to-real autonomous driving research. Our experiments show the effectiveness of our segmentation approach on thousands of real-world point clouds (Code and synthetic datasets are available at https://github.com/saltoricristiano/gipso-sfouda ).
AB - 3D point cloud semantic segmentation is fundamental for autonomous driving. Most approaches in the literature neglect an important aspect, i.e., how to deal with domain shift when handling dynamic scenes. This can significantly hinder the navigation capabilities of self-driving vehicles. This paper advances the state of the art in this research field. Our first contribution consists in analysing a new unexplored scenario in point cloud segmentation, namely Source-Free Online Unsupervised Domain Adaptation (SF-OUDA). We experimentally show that state-of-the-art methods have a rather limited ability to adapt pre-trained deep network models to unseen domains in an online manner. Our second contribution is an approach that relies on adaptive self-training and geometric-feature propagation to adapt a pre-trained source model online without requiring either source data or target labels. Our third contribution is to study SF-OUDA in a challenging setup where source data is synthetic and target data is point clouds captured in the real world. We use the recent SynLiDAR dataset as a synthetic source and introduce two new synthetic (source) datasets, which can stimulate future synthetic-to-real autonomous driving research. Our experiments show the effectiveness of our segmentation approach on thousands of real-world point clouds (Code and synthetic datasets are available at https://github.com/saltoricristiano/gipso-sfouda ).
KW - Geometric propagation
KW - Online domain adaptation
KW - Point cloud segmentation
KW - Source-free unsupervised domain adaptation
U2 - 10.1007/978-3-031-19827-4_33
DO - 10.1007/978-3-031-19827-4_33
M3 - Conference contribution
AN - SCOPUS:85142696335
SN - 9783031198267
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 567
EP - 585
BT - Computer Vision – ECCV 2022 - 17th European Conference, Proceedings
A2 - Avidan, Shai
A2 - Brostow, Gabriel
A2 - Cissé, Moustapha
A2 - Farinella, Giovanni Maria
A2 - Hassner, Tal
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 23 October 2022 through 27 October 2022
ER -