{"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/self-supervised-pre-training-for-transferable","title":"Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perception","arxiv_id":"2405.17942","date":"2024-05-28","proceeding":null,"authors":["Xiaohao Xu","Ye Li","Tianyi Zhang","Jinrong Yang","Matthew Johnson-Roberson","Xiaonan Huang"],"abstract":"Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing pretraining methods mainly employ distinct approaches for each modality. In contrast, we focus on LiDAR-Camera 3D perception models and introduce a unified pretraining strategy, NeRF-Supervised Masked Auto Encoder (NS-MAE), which optimizes all modalities through a shared formulation. NS-MAE leverages NeRF's ability to encode both appearance and geometry, enabling efficient masked reconstruction of multi-modal data. Specifically, embeddings are extracted from corrupted LiDAR point clouds and images, conditioned on view directions and locations. Then, these embeddings are rendered into multi-modal feature maps from two crucial viewpoints for 3D driving perception: perspective and bird's-eye views. The original uncorrupted data serve as reconstruction targets for self-supervised learning. Extensive experiments demonstrate the superior transferability of NS-MAE across various 3D perception tasks under different fine-tuning settings. Notably, NS-MAE outperforms prior SOTA pre-training methods that employ separate strategies for each modality in BEV map segmentation under the label-efficient fine-tuning setting. Our code is publicly available at https://github.com/Xiaohao-Xu/Unified-Pretrain-AD/ .","url_abs":"https://arxiv.org/abs/2405.17942v2","url_pdf":"https://arxiv.org/pdf/2405.17942v2.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":[{"paper_slug":"self-supervised-pre-training-for-transferable","repo_url":"https://github.com/xiaohao-xu/unified-pretrain-ad","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"nerf","task_name":"NeRF"},{"task_slug":"neural-rendering","task_name":"Neural Rendering"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"representation-learning","task_name":"Representation Learning"},{"task_slug":"self-supervised-learning","task_name":"Self-Supervised Learning"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[{"method_slug":"focus","method_name":"Focus"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2405.17942","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}