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Evaluation of Point Cloud Data Augmentation for 3D-LiDAR Object Detection in Autonomous Driving

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 976))

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Abstract

Obstacle detection is an essential component for autonomous vehicles to navigate safely. To address certain limitations of 2D object detection, numerous recent approaches have emerged, aiming to leverage LiDAR sensors for 3D object detection. LiDAR sensors, with their depth sensing capabilities, offer richer spatial and geometric data, enabling the accurate estimation of 3D bounding boxes and object orientations. However, the complexity of 3D annotation, in supervised object detection, imposes significant challenges for this task. To address the annotation problem, some studies have explored data augmentation techniques for 3D point clouds, but, not all augmentation methods yield positive impacts on model performance. Therefore, this paper presents an in-depth evaluation of global data augmentation techniques, specifically focusing on geometric transformation and noise-based methods for 3D object detection. The results reported in this paper, achieved on the KITTI dataset, showed a relevant difference in some geometric operations, and the importance of noise-based methods.

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Acknowledgments

This paper has been partially supported by the project GreenBotics ref. PTDC/EEI-ROB/2459/2021 funded by FCT, Portugal. We thank the Coordination for the Improvement of Higher Education Personnel - Brazil (CAPES) for the financial support under grant 88887.500344/2020-0, and the São Paulo Research Foundation (FAPESP) for the financial support under grants 2019/27301-7 and 2022/04473-0.

Author information

Authors and Affiliations

  1. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Marta Martins & Cristiano Premebida

  2. Institute of Mathematics and Computer Science, University of São Paulo, São Paulo, Brazil

    Iago P. Gomes & Denis Fernando Wolf

Authors
  1. Marta Martins
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  2. Iago P. Gomes
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  3. Denis Fernando Wolf
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  4. Cristiano Premebida
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Corresponding author

Correspondence to Iago P. Gomes .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid, Spain

    Manuel Ferre

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Martins, M., Gomes, I.P., Wolf, D.F., Premebida, C. (2024). Evaluation of Point Cloud Data Augmentation for 3D-LiDAR Object Detection in Autonomous Driving. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_7

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