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| Auteurs principaux: | , , , |
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| Format: | Preprint |
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2024
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| Accès en ligne: | https://arxiv.org/abs/2402.08427 |
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| _version_ | 1866916123432189952 |
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| author | Decourt, Colin VanRullen, Rufin Salle, Didier Oberlin, Thomas |
| author_facet | Decourt, Colin VanRullen, Rufin Salle, Didier Oberlin, Thomas |
| contents | In recent years, driven by the need for safer and more autonomous transport systems, the automotive industry has shifted toward integrating a growing number of Advanced Driver Assistance Systems (ADAS). Among the array of sensors employed for object recognition tasks, radar sensors have emerged as a formidable contender due to their abilities in adverse weather conditions or low-light scenarios and their robustness in maintaining consistent performance across diverse environments. However, the small size of radar datasets and the complexity of the labelling of those data limit the performance of radar object detectors. Driven by the promising results of self-supervised learning in computer vision, this paper presents RiCL, an instance contrastive learning framework to pre-train radar object detectors. We propose to exploit the detection from the radar and the temporal information to pre-train the radar object detection model in a self-supervised way using contrastive learning. We aim to pre-train an object detector's backbone, head and neck to learn with fewer data. Experiments on the CARRADA and the RADDet datasets show the effectiveness of our approach in learning generic representations of objects in range-Doppler maps. Notably, our pre-training strategy allows us to use only 20% of the labelled data to reach a similar mAP@0.5 than a supervised approach using the whole training set. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_08427 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Leveraging Self-Supervised Instance Contrastive Learning for Radar Object Detection Decourt, Colin VanRullen, Rufin Salle, Didier Oberlin, Thomas Computer Vision and Pattern Recognition In recent years, driven by the need for safer and more autonomous transport systems, the automotive industry has shifted toward integrating a growing number of Advanced Driver Assistance Systems (ADAS). Among the array of sensors employed for object recognition tasks, radar sensors have emerged as a formidable contender due to their abilities in adverse weather conditions or low-light scenarios and their robustness in maintaining consistent performance across diverse environments. However, the small size of radar datasets and the complexity of the labelling of those data limit the performance of radar object detectors. Driven by the promising results of self-supervised learning in computer vision, this paper presents RiCL, an instance contrastive learning framework to pre-train radar object detectors. We propose to exploit the detection from the radar and the temporal information to pre-train the radar object detection model in a self-supervised way using contrastive learning. We aim to pre-train an object detector's backbone, head and neck to learn with fewer data. Experiments on the CARRADA and the RADDet datasets show the effectiveness of our approach in learning generic representations of objects in range-Doppler maps. Notably, our pre-training strategy allows us to use only 20% of the labelled data to reach a similar mAP@0.5 than a supervised approach using the whole training set. |
| title | Leveraging Self-Supervised Instance Contrastive Learning for Radar Object Detection |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2402.08427 |