Uncertainty-aware Self-supervised 3D Data Association

Jianren Wang; Siddharth Ancha; Yi-Ting Chen; David Held

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arXiv · 2008.08173

Uncertainty-aware Self-supervised 3D Data Association

Jianren Wang·Siddharth Ancha·Yi-Ting Chen·David Held

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Abstract

3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers, with a focus on data association. Large scale annotations for unlabeled data are cheaply obtained by automatic object detection and association across frames. We show how these self-supervised annotations can be used in a principled manner to learn point-cloud embeddings that are effective for 3D tracking. We estimate and incorporate uncertainty in self-supervised tracking to learn more robust embeddings, without needing any labeled data. We design embeddings to differentiate objects across frames, and learn them using uncertainty-aware self-supervised training. Finally, we demonstrate their ability to perform accurate data association across frames, towards effective and accurate 3D tracking. Project videos and code are at https://jianrenw.github.io/Self-Supervised-3D-Data-Association.

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Jianren Wang, Siddharth Ancha, Yi-Ting Chen, David Held. 2020-08-18. Uncertainty-aware Self-supervised 3D Data Association. https://arxiv.org/abs/2008.08173

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