Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions

Iñigo Alonso, Luis Riazuelo, Luis Montesano, Luis Montesano, Ana Murillo

2021

Abstract

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the annotation process for this task is very expensive. To overcome this, it is key to find models that generalize well or adapt to additional domains where labeled data is limited. This work addresses the problem of unsupervised domain adaptation for LiDAR semantic segmentation models. We propose simple but effective strategies to reduce the domain shift by aligning the data distribution on the input space. Besides, we present a learning-based module to align the distribution of the semantic classes of the target domain to the source domain. Our approach achieves new state-of-the-art results on three different public datasets, which showcase adaptation to three different domains.

Paper Citation

in Harvard Style

Alonso I., Riazuelo L., Montesano L. and Murillo A. (2021). Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 330-337. DOI: 10.5220/0010610703300337

in Bibtex Style

@conference{icinco21,
author={Iñigo Alonso and Luis Riazuelo and Luis Montesano and Ana Murillo},
title={Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={330-337},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010610703300337},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions
SN - 978-989-758-522-7
AU - Alonso I.
AU - Riazuelo L.
AU - Montesano L.
AU - Murillo A.
PY - 2021
SP - 330
EP - 337
DO - 10.5220/0010610703300337