{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/lidarnet-a-boundary-aware-domain-adaptation","title":"LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation","arxiv_id":"2003.01174","date":"2020-03-02","proceeding":null,"authors":["Peng Jiang","Srikanth Saripalli"],"abstract":"We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded Gated-SCNN into the segmentor component of LiDARNet to learn boundary information while learning to predict full-scene semantic segmentation labels. Moreover, we further reduce the domain gap by inducing the model to learn a mapping between two domains using the domain shared and private features. Additionally, we introduce a new dataset (SemanticUSL\\footnote{The access address of SemanticUSL:\\url{https://unmannedlab.github.io/research/SemanticUSL}}) for domain adaptation for LiDAR point cloud semantic segmentation. The dataset has the same data format and ontology as SemanticKITTI. We conducted experiments on real-world datasets SemanticKITTI, SemanticPOSS, and SemanticUSL, which have differences in channel distributions, reflectivity distributions, diversity of scenes, and sensors setup. Using our approach, we can get a single projection-based LiDAR full-scene semantic segmentation model working on both domains. Our model can keep almost the same performance on the source domain after adaptation and get an 8\\%-22\\% mIoU performance increase in the target domain.","url_abs":"https://arxiv.org/abs/2003.01174v3","url_pdf":"https://arxiv.org/pdf/2003.01174v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"diversity","task_name":"Diversity"},{"task_slug":"domain-adaptation","task_name":"Domain Adaptation"},{"task_slug":"segmentation","task_name":"Segmentation"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[{"method_slug":"batch-normalization","method_name":"Batch Normalization"},{"method_slug":"convolution","method_name":"Convolution"},{"method_slug":"cycle-consistency-loss","method_name":"Cycle Consistency Loss"},{"method_slug":"gan-least-squares-loss","method_name":"GAN Least Squares Loss"},{"method_slug":"instance-normalization","method_name":"Instance Normalization"},{"method_slug":"patchgan","method_name":"PatchGAN"},{"method_slug":"relu","method_name":"ReLU"},{"method_slug":"residual-block","method_name":"Residual Block"},{"method_slug":"residual-connection","method_name":"Residual Connection"},{"method_slug":"sigmoid-activation","method_name":"Sigmoid Activation"},{"method_slug":"tanh-activation","method_name":"Tanh Activation"}],"datasets_introduced":[{"slug":"semanticusl","name":"SemanticUSL","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2003.01174","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}