Unsupervised Neural Sensor Models for Synthetic LiDAR Data Augmentation

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed form, and at the same time, they require the existence of paired...

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Bibliographic Details
Published in:arXiv.org 2019-11
Main Authors: Ahmad El Sallab, Sobh, Ibrahim, Zahran, Mohamed, Shawky, Mohamed
Format: Article
Language:English
Subjects:
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Computer simulation
Data augmentation
Datasets
Lidar
Machine learning
Mapping
Object recognition
Perception
Sensors
Simulators
Test systems
Three dimensional models
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Summary:Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed form, and at the same time, they require the existence of paired data to be learned. In this work, we propose two unsupervised neural sensor models based on unpaired domain translations with CycleGANs and Neural Style Transfer techniques. We employ CARLA as the simulation environment to obtain simulated LiDAR point clouds, together with their annotations for data augmentation, and we use KITTI dataset as the real LiDAR dataset from which we learn the realistic sensor model mapping. Moreover, we provide a framework for data augmentation and evaluation of the developed sensor models, through extrinsic object detection task evaluation using YOLO network adapted to provide oriented bounding boxes for LiDAR Bird-eye-View projected point clouds. Evaluation is performed on unseen real LiDAR frames from KITTI dataset, with different amounts of simulated data augmentation using the two proposed approaches, showing improvement of 6% mAP for the object detection task, in favor of the augmenting LiDAR point clouds adapted with the proposed neural sensor models over the raw simulated LiDAR.
ISSN:2331-8422