CMAE-3D: Contrastive Masked AutoEncoders for Self-Supervised 3D Object Detection

IF 11.6 2区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
Yanan Zhang, Jiaxin Chen, Di Huang
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引用次数: 0

Abstract

LiDAR-based 3D object detection is a crucial task for autonomous driving, owing to its accurate object recognition and localization capabilities in the 3D real-world space. However, existing methods heavily rely on time-consuming and laborious large-scale labeled LiDAR data, posing a bottleneck for both performance improvement and practical applications. In this paper, we propose Contrastive Masked AutoEncoders for self-supervised 3D object detection, dubbed as CMAE-3D, which is a promising solution to effectively alleviate label dependency in 3D perception. Specifically, we integrate Contrastive Learning (CL) and Masked AutoEncoders (MAE) into one unified framework to fully utilize the complementary characteristics of global semantic representation and local spatial perception. Furthermore, from the perspective of MAE, we develop the Geometric-Semantic Hybrid Masking (GSHM) to selectively mask representative regions in point clouds with imbalanced foreground-background and uneven density distribution, and design the Multi-scale Latent Feature Reconstruction (MLFR) to capture high-level semantic features while mitigating the redundant reconstruction of low-level details. From the perspective of CL, we present Hierarchical Relational Contrastive Learning (HRCL) to mine rich semantic similarity information while alleviating the issue of negative sample mismatch from both the voxel-level and frame-level. Extensive experiments demonstrate the effectiveness of our pre-training method when applied to multiple mainstream 3D object detectors (SECOND, CenterPoint and PV-RCNN) on three popular datasets (KITTI, Waymo and nuScenes).

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来源期刊
International Journal of Computer Vision
International Journal of Computer Vision 工程技术-计算机:人工智能
CiteScore
29.80
自引率
2.10%
发文量
163
审稿时长
6 months
期刊介绍: The International Journal of Computer Vision (IJCV) serves as a platform for sharing new research findings in the rapidly growing field of computer vision. It publishes 12 issues annually and presents high-quality, original contributions to the science and engineering of computer vision. The journal encompasses various types of articles to cater to different research outputs. Regular articles, which span up to 25 journal pages, focus on significant technical advancements that are of broad interest to the field. These articles showcase substantial progress in computer vision. Short articles, limited to 10 pages, offer a swift publication path for novel research outcomes. They provide a quicker means for sharing new findings with the computer vision community. Survey articles, comprising up to 30 pages, offer critical evaluations of the current state of the art in computer vision or offer tutorial presentations of relevant topics. These articles provide comprehensive and insightful overviews of specific subject areas. In addition to technical articles, the journal also includes book reviews, position papers, and editorials by prominent scientific figures. These contributions serve to complement the technical content and provide valuable perspectives. The journal encourages authors to include supplementary material online, such as images, video sequences, data sets, and software. This additional material enhances the understanding and reproducibility of the published research. Overall, the International Journal of Computer Vision is a comprehensive publication that caters to researchers in this rapidly growing field. It covers a range of article types, offers additional online resources, and facilitates the dissemination of impactful research.
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