# Domain generalization of 3D semantic segmentation in autonomous driving

arXiv: https://arxiv.org/abs/2212.04245 · HTML: https://mlsanity.com/paper/2212.04245/

## Key facts

- Cited by 25 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 55 references that are in the map.
- First posted on arXiv 7 Dec 2022.

## Builds on (most cited first, 30 of 45)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Arbitrary Style Transfer in Real-time with Adaptive Instance Normalization](https://mlsanity.com/paper/1703.06868/) (2017)
- [The Many Faces of Robustness: A Critical Analysis of Out-of-Distribution Generalization](https://mlsanity.com/paper/2006.16241/) (2020)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Generalizing to Unseen Domains: A Survey on Domain Generalization](https://mlsanity.com/paper/2103.03097/) (2021)
- [Domain Generalization: A Survey](https://mlsanity.com/paper/2103.02503/) (2021)
- [Learning to Generalize: Meta-Learning for Domain Generalization](https://mlsanity.com/paper/1710.03463/) (2017)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [Generalizing to Unseen Domains via Adversarial Data Augmentation](https://mlsanity.com/paper/1805.12018/) (2018)
- [Domain Generalization by Solving Jigsaw Puzzles](https://mlsanity.com/paper/1903.06864/) (2019)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Two at Once: Enhancing Learning and Generalization Capacities via IBN-Net](https://mlsanity.com/paper/1807.09441/) (2018)
- [PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation](https://mlsanity.com/paper/2003.14032/) (2020)
- [SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters](https://mlsanity.com/paper/1803.11527/) (2018)
- [Episodic Training for Domain Generalization](https://mlsanity.com/paper/1902.00113/) (2019)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [Tangent Convolutions for Dense Prediction in 3D](https://mlsanity.com/paper/1807.02443/) (2018)
- [RPVNet: A Deep and Efficient Range-Point-Voxel Fusion Network for LiDAR Point Cloud Segmentation](https://mlsanity.com/paper/2103.12978/) (2021)
- [SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation](https://mlsanity.com/paper/2004.01803/) (2020)
- [Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking](https://mlsanity.com/paper/2109.03805/) (2021)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [Robust and Generalizable Visual Representation Learning via Random Convolutions](https://mlsanity.com/paper/2007.13003/) (2020)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences](https://mlsanity.com/paper/1910.09165/) (2019)
- [Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds](https://mlsanity.com/paper/2007.08488/) (2020)
- [Transfer Learning from Synthetic to Real LiDAR Point Cloud for Semantic Segmentation](https://mlsanity.com/paper/2107.05399/) (2021)
- [PSTNet: Point Spatio-Temporal Convolution on Point Cloud Sequences](https://mlsanity.com/paper/2205.13713/) (2022)
- [4D Panoptic LiDAR Segmentation](https://mlsanity.com/paper/2102.12472/) (2021)

## Built on by (most cited first, 25 of 25)

- [Three Pillars improving Vision Foundation Model Distillation for Lidar](https://mlsanity.com/paper/2310.17504/) (2023)
- [SALUDA: Surface-based Automotive Lidar Unsupervised Domain Adaptation](https://mlsanity.com/paper/2304.03251/) (2023)
- [A Survey of Label-Efficient Deep Learning for 3D Point Clouds](https://mlsanity.com/paper/2305.19812/) (2023)
- [Visual Foundation Models Boost Cross-Modal Unsupervised Domain Adaptation for 3D Semantic Segmentation](https://mlsanity.com/paper/2403.10001/) (2024)
- [Walking Your LiDOG: A Journey Through Multiple Domains for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2304.11705/) (2023)
- [DG-PIC: Domain Generalized Point-In-Context Learning for Point Cloud Understanding](https://mlsanity.com/paper/2407.08801/) (2024)
- [V2X-DGW: Domain Generalization for Multi-agent Perception under Adverse Weather Conditions](https://mlsanity.com/paper/2403.11371/) (2024)
- [Deep Transfer Learning for Intelligent Vehicle Perception: a Survey](https://mlsanity.com/paper/2306.15110/) (2023)
- [LiDPM: Rethinking Point Diffusion for Lidar Scene Completion](https://mlsanity.com/paper/2504.17791/) (2025)
- [Bridging Domain Generalization to Multimodal Domain Generalization via Unified Representations](https://mlsanity.com/paper/2507.03304/) (2025)
- [COLA: COarse-LAbel multi-source LiDAR semantic segmentation for autonomous driving](https://mlsanity.com/paper/2311.03017/) (2023)
- [Multimodal 3D Object Detection on Unseen Domains](https://mlsanity.com/paper/2404.11764/) (2024)
- [Rethinking LiDAR Domain Generalization: Single Source as Multiple Density Domains](https://mlsanity.com/paper/2312.12098/) (2023)
- [HGL: Hierarchical Geometry Learning for Test-time Adaptation in 3D Point Cloud Segmentation](https://mlsanity.com/paper/2407.12387/) (2024)
- [Train Till You Drop: Towards Stable and Robust Source-free Unsupervised 3D Domain Adaptation](https://mlsanity.com/paper/2409.04409/) (2024)
- [ParisLuco3D: A high-quality target dataset for domain generalization of LiDAR perception](https://mlsanity.com/paper/2310.16542/) (2023)
- [3D Adversarial Augmentations for Robust Out-of-Domain Predictions](https://mlsanity.com/paper/2308.15479/) (2023)
- [Street Gaussians without 3D Object Tracker](https://mlsanity.com/paper/2412.05548/) (2024)
- [LiDAR Remote Sensing Meets Weak Supervision: Concepts, Methods, and Perspectives](https://mlsanity.com/paper/2503.18384/) (2025)
- [SphereNet: Learning a Noise-Robust and General Descriptor for Point Cloud Registration](https://mlsanity.com/paper/2307.09351/) (2023)
- [Improving Multimodal Distillation for 3D Semantic Segmentation under Domain Shift](https://mlsanity.com/paper/2511.17455/) (2025)
- [Cross-view Domain Generalization via Geometric Consistency for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2602.14525/) (2026)
- [CrossFlowDG: Bridging the Modality Gap with Cross-modal Flow Matching for Domain Generalization](https://mlsanity.com/paper/2604.16892/) (2026)
- [PatchScene: Patch-based Voxel Diffusion for Large-Scale Scene Completion](https://mlsanity.com/paper/2606.03915/) (2026)
- [Domain Generalization for Smartphone-Based Human Activity Recognition: A Systematic Analysis of Components and Interactions](https://mlsanity.com/paper/2609.14863/) (2026)

## Abstract (arXiv)

Using deep learning, 3D autonomous driving semantic segmentation has become a well-studied subject, with methods that can reach very high performance. Nonetheless, because of the limited size of the training datasets, these models cannot see every type of object and scene found in real-world applications. The ability to be reliable in these various unknown environments is called textupdomain generalization. Despite its importance, domain generalization is relatively unexplored in the case of 3D autonomous driving semantic segmentation. To fill this gap, this paper presents the first benchmark for this application by testing state-of-the-art methods and discussing the difficulty of tackling Laser Imaging Detection and Ranging (LiDAR) domain shifts. We also propose the first method designed to address this domain generalization, which we call 3DLabelProp. This method relies on leveraging the geometry and sequentiality of the LiDAR data to enhance its generalization performances by working on partially accumulated point clouds. It reaches a mean Intersection over Union (mIoU) of 50.4% on SemanticPOSS and of 55.2% on PandaSet solid-state LiDAR while being trained only on SemanticKITTI, making it the state-of-the-art method for generalization (+5% and +33% better, respectively, than the second best method). The code for this method is available on GitHub: https://github.com/JulesSanchez/3DLabelProp.