We explore object discovery and detector adaptation based on unlabeled video
sequences captured from a mobile platform. We propose a fully automatic
approach for object mining from video which builds upon a generic object
tracking approach. By applying this method to three large video datasets from
autonomous driving and mobile robotics scenarios, we demonstrate its robustness
and generality. Based on the object mining results, we propose a novel approach
for unsupervised object discovery by appearance-based clustering. We show that
this approach successfully discovers interesting objects relevant to driving
scenarios. In addition, we perform self-supervised detector adaptation in order
to improve detection performance on the KITTI dataset for existing categories.
Our approach has direct relevance for enabling large-scale object learning for
autonomous driving.

本文提出基于视频序列的目标发现和检测器适应方法，通过三个大型自动驾驶和移动机器人场景的视频数据集的应用，证明了其鲁棒性和广泛性，并提出了一种基于外观聚类的无监督物体发现方法，成功地发现了与驾驶场景相关的有趣物体，同时通过自监督检测器适应，进一步提高了现有类别在 KITTI 数据集的检测性能，可用于自主驾驶的大规模目标学习。