PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds

TL;DR

PolarMix is a versatile data augmentation method for LiDAR point clouds that enhances data diversity and model performance across various perception tasks by cutting, mixing, and rotating point cloud segments.

Contribution

It introduces a simple, generic augmentation technique that effectively mitigates data scarcity issues in LiDAR point cloud analysis across multiple scenarios.

Findings

PolarMix improves accuracy in perception tasks.

It enhances model robustness across different scenarios.

Works as a plug-and-play method for various architectures.

Abstract

LiDAR point clouds, which are usually scanned by rotating LiDAR sensors continuously, capture precise geometry of the surrounding environment and are crucial to many autonomous detection and navigation tasks. Though many 3D deep architectures have been developed, efficient collection and annotation of large amounts of point clouds remain one major challenge in the analytic and understanding of point cloud data. This paper presents PolarMix, a point cloud augmentation technique that is simple and generic but can mitigate the data constraint effectively across different perception tasks and scenarios. PolarMix enriches point cloud distributions and preserves point cloud fidelity via two cross-scan augmentation strategies that cut, edit, and mix point clouds along the scanning direction. The first is scene-level swapping which exchanges point cloud sectors of two LiDAR scans that are cut along the azimuth axis. The second is instance-level rotation and paste which crops point instances from one LiDAR scan, rotates them by multiple angles (to create multiple copies), and paste the rotated point instances into other scans. Extensive experiments show that PolarMix achieves superior performance consistently across different perception tasks and scenarios. In addition, it can work as plug-and-play for various 3D deep architectures and also performs well for unsupervised domain adaptation.