2023/09/12 by Yiming Shan, Shan, Yiming, Yan Xia +5
Computer Science · Engineering · #Advanced Neural Network Applications #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics and Sensor-Based Localization #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2309.06199
openalex publication_date 2023/09/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and prone to errors during the process of labeling 3D bounding boxes. In this paper, we propose a Scene Completion Pre-training (SCP) method to enhance the performance of 3D object detectors with less labeled data. SCP offers three key advantages: (1) Improved initialization of the point cloud model. By completing the scene point clouds, SCP effectively captures the spatial and semantic relationships among objects within urban environments. (2) Elimination of the need for additional datasets. SCP serves as a valuable auxiliary network that does not impose any additional efforts or data requirements on the 3D detectors. (3) Reduction of the amount of labeled data for detection. With the help of SCP, the existing state-of-the-art 3D detectors can achieve comparable performance while only relying on 20% labeled data.