Refining the ONCE Benchmark with Hyperparameter Tuning

摘要

In response to the growing demand for 3D object detection in applications such as autonomous driving, robotics, and augmented reality, this work focuses on the evaluation of semi-supervised learning approaches for point cloud data. The point cloud representation provides reliable and consistent observations regardless of lighting conditions, thanks to advances in LiDAR sensors. Data annotation is of paramount importance in the context of LiDAR applications, and automating 3D data annotation with semi-supervised methods is a pivotal challenge that promises to reduce the associated workload and facilitate the emergence of cost-effective LiDAR solutions. Nevertheless, the task of semi-supervised learning in the context of unordered point cloud data remains formidable due to the inherent sparsity and incomplete shapes that hinder the generation of accurate pseudo-labels. In this study, we consider these challenges by posing the question: "To what extent does unlabelled data contribute to the enhancement of model performance?" We show that improvements from previous semi-supervised methods may not be as profound as previously thought. Our results suggest that simple grid search hyperparameter tuning applied to a supervised model can lead to state-of-the-art performance on the ONCE dataset, while the contribution of unlabelled data appears to be comparatively less exceptional.