TL;DR该研究使用 MODEST 训练 3D 物体探测器,提出了 HyperMODEST 方法,通过筛选中间的伪标签来进行数据增强,加速了自我训练的过程,同时在不需要在特定的数据集上进行调整,取得了显著的性能提升。
Abstract
Current lidar-based 3d object detectors for autonomous driving are almost entirely trained on human-annotated data collected in specific geographical domains with specific sensor setups, making it difficult to ad