SimFuse3D: Source-Guided Target Simulation and Confidence-Guided Multi-Stage Localization Reweighting for Cross-Platform 3D Object Detection

Abstract:Changes in sensor height and viewpoint alter object-level point distributions, making cross-platform LiDAR unsupervised domain adaptation (UDA) difficult. Self-training uses labeled source scans and unlabeled target scans, yet a retained prediction may provide a useful target location while enclosing sparse foreground returns, background clutter, or points inconsistent with the predicted box. We refer to this mismatch as box-point inconsistency. We introduce SimFuse3D, which preserves the target placement and repairs the associated pseudo-object using measured geometry from labeled source scans. Object Memory retrieves a compatible labeled source instance. Target Simulation places its ground-truth box at the target location, aligns its points with the target viewing geometry, and filters the aligned crop to approximate the target observation. Confidence-Guided Multi-Stage Localization Reweighting (CMLR) maps each target pseudo-object confidence score to a bounded weight shared by RPN localization and R-CNN box regression. All components operate only during adaptation, leaving the detector architecture and inference graph unchanged. Across six cross-platform transfers, SimFuse3D exceeds Pi3DET-Net on every reported AP metric and ranks first among the compared adaptation methods on nearly all metrics. On nuScenes-to-KITTI, it ranks first among the compared adaptation methods with both evaluated detectors.

9 pages, 5 figures. Submitted to IEEE Robotics and Automation Letters

Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI)

arXiv:2609.04886 [cs.CV]

(or arXiv:2609.04886v1 [cs.CV] for this version)

https://doi.org/10.48550/arXiv.2609.04886 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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