LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point CloudsDownload PDF

Published: 30 Aug 2023, Last Modified: 16 Oct 2023CoRL 2023 PosterReaders: Everyone
Keywords: Auto-labelling, Offboard Perception, Trajectory Refinement, Transformer
TL;DR: We propose LabelFormer, a simple, efficient and effective transformer-based trajectory refinement method that reasons with full temporal context for LiDAR-based auto-labelling.
Abstract: A major bottleneck to scaling-up training of self-driving perception systems are the human annotations required for supervision. A promising alternative is to leverage “auto-labelling” offboard perception models that are trained to automatically generate annotations from raw LiDAR point clouds at a fraction of the cost. Auto-labels are most commonly generated via a two-stage approach – first objects are detected and tracked over time, and then each object trajectory is passed to a learned refinement model to improve accuracy. Since existing refinement models are overly complex and lack advanced temporal reasoning capabilities, in this work we propose LabelFormer, a simple, efficient, and effective trajectory-level refinement approach. Our approach first encodes each frame’s observations separately, then exploits self-attention to reason about the trajectory with full temporal context, and finally decodes the refined object size and per-frame poses. Evaluation on both urban and highway datasets demonstrates that LabelFormer outperforms existing works by a large margin. Finally, we show that training on a dataset augmented with auto-labels generated by our method leads to improved downstream detection performance compared to existing methods. Please visit the project website for details
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