# DPGLA: Bridging the Gap between Synthetic and Real Data for Unsupervised Domain Adaptation in 3D LiDAR Semantic Segmentation

arXiv: https://arxiv.org/abs/2510.23525 · HTML: https://mlsanity.com/paper/2510.23525/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 52 references that are in the map.
- First posted on arXiv 27 Oct 2025.

## Builds on (most cited first, 30 of 38)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [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)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Confidence Regularized Self-Training](https://mlsanity.com/paper/1908.09822/) (2019)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [Prototypical Pseudo Label Denoising and Target Structure Learning for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2101.10979/) (2021)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [DLOW: Domain Flow for Adaptation and Generalization](https://mlsanity.com/paper/1812.05418/) (2018)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [Cycle Self-Training for Domain Adaptation](https://mlsanity.com/paper/2103.03571/) (2021)
- [Complete & Label: A Domain Adaptation Approach to Semantic Segmentation of LiDAR Point Clouds](https://mlsanity.com/paper/2007.08488/) (2020)
- [LaserMix for Semi-Supervised LiDAR Semantic Segmentation](https://mlsanity.com/paper/2207.00026/) (2022)
- [A Closer Look at Smoothness in Domain Adversarial Training](https://mlsanity.com/paper/2206.08213/) (2022)
- [Context-Aware Mixup for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2108.03557/) (2021)
- [Maximum Density Divergence for Domain Adaptation](https://mlsanity.com/paper/2004.12615/) (2020)
- [Transfer Learning from Synthetic to Real LiDAR Point Cloud for Semantic Segmentation](https://mlsanity.com/paper/2107.05399/) (2021)
- [PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds](https://mlsanity.com/paper/2208.00223/) (2022)
- [Uncertainty-Aware Unsupervised Domain Adaptation in Object Detection](https://mlsanity.com/paper/2103.00236/) (2021)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR-based Perception](https://mlsanity.com/paper/2109.05441/) (2021)
- [ePointDA: An End-to-End Simulation-to-Real Domain Adaptation Framework for LiDAR Point Cloud Segmentation](https://mlsanity.com/paper/2009.03456/) (2020)
- [CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentation](https://mlsanity.com/paper/2207.09778/) (2022)

## Built on by (most cited first, 1 of 1)

- [Learning to Identify Out-of-Distribution Objects for 3D LiDAR Anomaly Segmentation](https://mlsanity.com/paper/2604.23604/) (2026)

## Abstract (arXiv)

Annotating real-world LiDAR point clouds for use in intelligent autonomous systems is costly. To overcome this limitation, self-training-based Unsupervised Domain Adaptation (UDA) has been widely used to improve point cloud semantic segmentation by leveraging synthetic point cloud data. However, we argue that existing methods do not effectively utilize unlabeled data, as they either rely on predefined or fixed confidence thresholds, resulting in suboptimal performance. In this paper, we propose a Dynamic Pseudo-Label Filtering (DPLF) scheme to enhance real data utilization in point cloud UDA semantic segmentation. Additionally, we design a simple and efficient Prior-Guided Data Augmentation Pipeline (PG-DAP) to mitigate domain shift between synthetic and real-world point clouds. Finally, we utilize data mixing consistency loss to push the model to learn context-free representations. We implement and thoroughly evaluate our approach through extensive comparisons with state-of-the-art methods. Experiments on two challenging synthetic-to-real point cloud semantic segmentation tasks demonstrate that our approach achieves superior performance. Ablation studies confirm the effectiveness of the DPLF and PG-DAP modules. We release the code of our method in this paper.