# Domain Adaptation in 3D Object Detection with Gradual Batch Alternation Training

arXiv: https://arxiv.org/abs/2210.10180 · HTML: https://mlsanity.com/paper/2210.10180/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 23 of its 30 references that are in the map.
- First posted on arXiv 18 Oct 2022.

## Builds on (most cited first, 23 of 23)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network](https://mlsanity.com/paper/1907.03670/) (2019)
- [Semi-supervised Domain Adaptation via Minimax Entropy](https://mlsanity.com/paper/1904.06487/) (2019)
- [One Million Scenes for Autonomous Driving: ONCE Dataset](https://mlsanity.com/paper/2106.11037/) (2021)
- [PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving](https://mlsanity.com/paper/2112.12610/) (2021)
- [ST3D: Self-training for Unsupervised Domain Adaptation on 3D Object Detection](https://mlsanity.com/paper/2103.05346/) (2021)
- [Train in Germany, Test in The USA: Making 3D Object Detectors Generalize](https://mlsanity.com/paper/2005.08139/) (2020)
- [SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation](https://mlsanity.com/paper/2108.06709/) (2021)
- [Point Density-Aware Voxels for LiDAR 3D Object Detection](https://mlsanity.com/paper/2203.05662/) (2022)
- [Pseudo-labeling for Scalable 3D Object Detection](https://mlsanity.com/paper/2103.02093/) (2021)
- [Gradual Fine-Tuning for Low-Resource Domain Adaptation](https://mlsanity.com/paper/2103.02205/) (2021)
- [Unsupervised Domain Adaptation in LiDAR Semantic Segmentation with Self-Supervision and Gated Adapters](https://mlsanity.com/paper/2107.09783/) (2021)

## Abstract (arXiv)

We consider the problem of domain adaptation in LiDAR-based 3D object detection. Towards this, we propose a simple yet effective training strategy called Gradual Batch Alternation that can adapt from a large labeled source domain to an insufficiently labeled target domain. The idea is to initiate the training with the batch of samples from the source and target domain data in an alternate fashion, but then gradually reduce the amount of the source domain data over time as the training progresses. This way the model slowly shifts towards the target domain and eventually better adapt to it. The domain adaptation experiments for 3D object detection on four benchmark autonomous driving datasets, namely ONCE, PandaSet, Waymo, and nuScenes, demonstrate significant performance gains over prior arts and strong baselines.