Commonsense Prototype for Outdoor Unsupervised 3D Object Detection

arXiv:2404.16493v1 Announce Type: new
Abstract: The prevalent approaches of unsupervised 3D object detection follow cluster-based pseudo-label generation and iterative self-training processes. However, the challenge arises due to the sparsity of LiDAR scans, which leads to pseudo-labels with erroneous size and position, resulting in subpar detection performance. To tackle this problem, this paper introduces a Commonsense Prototype-based Detector, termed CPD, for unsupervised 3D object detection. CPD first constructs Commonsense Prototype (CProto) characterized by high-quality bounding box and dense points, based on …

3d object 3d object detection arxiv commonsense cs.cv detection object type unsupervised