Real3D-Aug: Point Cloud Augmentation by Placing Real Objects with Occlusion Handling for 3D Detection and Segmentation. (arXiv:2206.07634v1 [cs.CV])

Web: http://arxiv.org/abs/2206.07634

Object detection and semantic segmentation with the 3D lidar point cloud data
require expensive annotation. We propose a data augmentation method that takes
advantage of already annotated data multiple times. We propose an augmentation
framework that reuses real data, automatically finds suitable placements in the
scene to be augmented, and handles occlusions explicitly. Due to the usage of
the real data, the scan points of newly inserted objects in augmentation
sustain the physical characteristics of the lidar, such as intensity …

3d arxiv augmentation cloud cv detection objects segmentation