Papers › WARM-3D: A Weakly-Supervised Sim2Real Domain Adaptation Framework for Roadside...
WARM-3D: A Weakly-Supervised Sim2Real Domain Adaptation Framework for Roadside Monocular 3D Object Detection
Xingcheng Zhou, Deyu Fu, Walter Zimmer, MingYu Liu, Venkatnarayanan Lakshminarasimhan, Leah Strand, Alois C. Knoll
Existing roadside perception systems are limited by the absence of publicly available, large-scale, high-quality 3D datasets. Exploring the use of cost-effective, extensive synthetic datasets offers a viable solution to tackle this challenge and enhance the performance of roadside monocular 3D detection. In this study, we introduce the TUMTraf Synthetic Dataset, offering a diverse and substantial collection of high-quality 3D data to augment scarce real-world datasets. Besides, we present WARM-3D, a concise yet effective framework to aid the Sim2Real domain transfer for roadside monocular 3D detection. Our method leverages cheap synthetic datasets and 2D labels from an off-the-shelf 2D detector for weak supervision. We show that WARM-3D significantly enhances performance, achieving a +12.40% increase in mAP 3D over the baseline with only pseudo-2D supervision. With 2D GT as weak labels, WARM-3D even reaches performance close to the Oracle baseline. Moreover, WARM-3D improves the ability of 3D detectors to unseen sample recognition across various real-world environments, highlighting its potential for practical applications.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections