# Instant Domain Augmentation for LiDAR Semantic Segmentation

arXiv: https://arxiv.org/abs/2303.14378 · HTML: https://mlsanity.com/paper/2303.14378/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 57 references that are in the map.
- First posted on arXiv 25 Mar 2023.

## Builds on (most cited first, 30 of 40)

- [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)
- [CutMix: Regularization Strategy to Train Strong Classifiers with Localizable Features](https://mlsanity.com/paper/1905.04899/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [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)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Simple Copy-Paste is a Strong Data Augmentation Method for Instance Segmentation](https://mlsanity.com/paper/2012.07177/) (2020)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving](https://mlsanity.com/paper/1812.07179/) (2018)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Point-Voxel CNN for Efficient 3D Deep Learning](https://mlsanity.com/paper/1907.03739/) (2019)
- [Volumetric and Multi-View CNNs for Object Classification on 3D Data](https://mlsanity.com/paper/1604.03265/) (2016)
- [Sliced Wasserstein Discrepancy for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1903.04064/) (2019)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [A2D2: Audi Autonomous Driving Dataset](https://mlsanity.com/paper/2004.06320/) (2020)
- [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)
- [SPLATNet: Sparse Lattice Networks for Point Cloud Processing](https://mlsanity.com/paper/1802.08275/) (2018)
- [xMUDA: Cross-Modal Unsupervised Domain Adaptation for 3D Semantic Segmentation](https://mlsanity.com/paper/1911.12676/) (2019)
- [Mix3D: Out-of-Context Data Augmentation for 3D Scenes](https://mlsanity.com/paper/2110.02210/) (2021)
- [Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds](https://mlsanity.com/paper/2007.08488/) (2020)
- [No More Discrimination: Cross City Adaptation of Road Scene Segmenters](https://mlsanity.com/paper/1704.08509/) (2017)
- [Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems](https://mlsanity.com/paper/2004.08467/) (2020)
- [PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds](https://mlsanity.com/paper/2208.00223/) (2022)
- [CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentation](https://mlsanity.com/paper/2207.09778/) (2022)
- [KPRNet: Improving projection-based LiDAR semantic segmentation](https://mlsanity.com/paper/2007.12668/) (2020)

## Built on by (most cited first, 16 of 16)

- [DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detection](https://mlsanity.com/paper/2312.15742/) (2023)
- [Advancements in Point Cloud Data Augmentation for Deep Learning: A Survey](https://mlsanity.com/paper/2308.12113/) (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)
- [Pre-training on Synthetic Driving Data for Trajectory Prediction](https://mlsanity.com/paper/2309.10121/) (2023)
- [Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2407.02286/) (2024)
- [Annotator: A Generic Active Learning Baseline for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2310.20293/) (2023)
- [GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priors](https://mlsanity.com/paper/2308.04638/) (2023)
- [BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes](https://mlsanity.com/paper/2503.07940/) (2025)
- [Rethinking LiDAR Domain Generalization: Single Source as Multiple Density Domains](https://mlsanity.com/paper/2312.12098/) (2023)
- [Stable and Consistent Prediction of 3D Characteristic Orientation via Invariant Residual Learning](https://mlsanity.com/paper/2306.11406/) (2023)
- [PSA-SSL: Pose and Size-aware Self-Supervised Learning on LiDAR Point Clouds](https://mlsanity.com/paper/2503.13914/) (2025)
- [Paved2Paradise: Cost-Effective and Scalable LiDAR Simulation by Factoring the Real World](https://mlsanity.com/paper/2312.01117/) (2023)
- [Toward Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setups](https://mlsanity.com/paper/2601.02759/) (2026)
- [FrozenDrive: Zero-Shot Text-Guided Driving Scene Generation and Data Augmentation with Parameter-Free Frozen Diffusion Model](https://mlsanity.com/paper/2606.20110/) (2026)
- [Intrinsic Dynamics-Driven Generalizable Scene Representations for Vision-Oriented Decision-Making Applications](https://mlsanity.com/paper/2405.19736/) (2024)

## Abstract (arXiv)

Despite the increasing popularity of LiDAR sensors, perception algorithms using 3D LiDAR data struggle with the 'sensor-bias problem'. Specifically, the performance of perception algorithms significantly drops when an unseen specification of LiDAR sensor is applied at test time due to the domain discrepancy. This paper presents a fast and flexible LiDAR augmentation method for the semantic segmentation task, called 'LiDomAug'. It aggregates raw LiDAR scans and creates a LiDAR scan of any configurations with the consideration of dynamic distortion and occlusion, resulting in instant domain augmentation. Our on-demand augmentation module runs at 330 FPS, so it can be seamlessly integrated into the data loader in the learning framework. In our experiments, learning-based approaches aided with the proposed LiDomAug are less affected by the sensor-bias issue and achieve new state-of-the-art domain adaptation performances on SemanticKITTI and nuScenes dataset without the use of the target domain data. We also present a sensor-agnostic model that faithfully works on the various LiDAR configurations.