Teachers in Concordance for Pseudo-Labeling of 3D Sequential Data

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00362258" target="_blank" >RIV/68407700:21230/23:00362258 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2022.3226029" target="_blank" >https://doi.org/10.1109/LRA.2022.3226029</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2022.3226029" target="_blank" >10.1109/LRA.2022.3226029</a>

Result language
angličtina
Original language name
Teachers in Concordance for Pseudo-Labeling of 3D Sequential Data
Original language description
Automatic pseudo-labeling is a powerful tool to tap into large amounts of sequential unlabeled data. It is especially appealing in safety-critical applications of autonomous driving, where performance requirements are extreme, datasets are large, and manual labeling is very challenging. We propose to leverage sequences of point clouds to boost the pseudo-labeling technique in a teacher-student setup via training multiple teachers, each with access to different temporal information. This set of teachers, dubbed Concordance , provides higher quality pseudo-labels for student training than standard methods. The output of multiple teachers is combined via a novel pseudo-label confidence-guided criterion. Our experimental evaluation focuses on the 3D point cloud domain and urban driving scenarios. We show the performance of our method applied to 3D semantic segmentation and 3D object detection on three benchmark datasets. Our approach, which uses only 20% manual labels, outperforms some fully supervised methods. A notable performance boost is achieved for classes rarely appearing in training data. Our codes will be made publicly available.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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