Spot: Scalable 3d pre-training via occupancy prediction for autonomous driving

X Yan, R Chen, B Zhang, J Yuan, X Cai, B Shi… - arXiv preprint arXiv …, 2023 - arxiv.org
arXiv preprint arXiv:2309.10527, 2023arxiv.org
Annotating 3D LiDAR point clouds for perception tasks including 3D object detection and
LiDAR semantic segmentation is notoriously time-and-energy-consuming. To alleviate the
burden from labeling, it is promising to perform large-scale pre-training and fine-tune the pre-
trained backbone on different downstream datasets as well as tasks. In this paper, we
propose SPOT, namely Scalable Pre-training via Occupancy prediction for learning
Transferable 3D representations, and demonstrate its effectiveness on various public …
Annotating 3D LiDAR point clouds for perception tasks including 3D object detection and LiDAR semantic segmentation is notoriously time-and-energy-consuming. To alleviate the burden from labeling, it is promising to perform large-scale pre-training and fine-tune the pre-trained backbone on different downstream datasets as well as tasks. In this paper, we propose SPOT, namely Scalable Pre-training via Occupancy prediction for learning Transferable 3D representations, and demonstrate its effectiveness on various public datasets with different downstream tasks under the label-efficiency setting. Our contributions are threefold: (1) Occupancy prediction is shown to be promising for learning general representations, which is demonstrated by extensive experiments on plenty of datasets and tasks. (2) SPOT uses beam re-sampling technique for point cloud augmentation and applies class-balancing strategies to overcome the domain gap brought by various LiDAR sensors and annotation strategies in different datasets. (3) Scalable pre-training is observed, that is, the downstream performance across all the experiments gets better with more pre-training data. We believe that our findings can facilitate understanding of LiDAR point clouds and pave the way for future exploration in LiDAR pre-training. Codes and models will be released.
arxiv.org
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