Label-Guided Auxiliary Training Improves 3D Object Detector

07/24/2022
by   Yaomin Huang, et al.
7

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as an auxiliary network to enhance the feature learning of existing 3D object detectors. Specifically, we propose two novel modules: a Label-Annotation-Inducer that maps annotations and point clouds in bounding boxes to task-specific representations and a Label-Knowledge-Mapper that assists the original features to obtain detection-critical representations. The proposed auxiliary network is discarded in inference and thus has no extra computational cost at test time. We conduct extensive experiments on both indoor and outdoor datasets to verify the effectiveness of our approach. For example, our proposed LG3D improves VoteNet by 2.5 RGB-D and ScanNetV2 datasets, respectively.

READ FULL TEXT
research
09/12/2023

SCP: Scene Completion Pre-training for 3D Object Detection

3D object detection using LiDAR point clouds is a fundamental task in th...
research
07/07/2020

LabelEnc: A New Intermediate Supervision Method for Object Detection

In this paper we propose a new intermediate supervision method, named La...
research
03/29/2022

MAP-Gen: An Automated 3D-Box Annotation Flow with Multimodal Attention Point Generator

Manually annotating 3D point clouds is laborious and costly, limiting th...
research
05/06/2020

Drosophila-Inspired 3D Moving Object Detection Based on Point Clouds

3D moving object detection is one of the most critical tasks in dynamic ...
research
11/14/2022

Recursive Cross-View: Use Only 2D Detectors to Achieve 3D Object Detection without 3D Annotations

Heavily relying on 3D annotations limits the real-world application of 3...
research
08/06/2023

Strategic Preys Make Acute Predators: Enhancing Camouflaged Object Detectors by Generating Camouflaged Objects

Camouflaged object detection (COD) is the challenging task of identifyin...
research
06/19/2023

Frame Fusion with Vehicle Motion Prediction for 3D Object Detection

In LiDAR-based 3D detection, history point clouds contain rich temporal ...

Please sign up or login with your details

Forgot password? Click here to reset