Differentiable SLAM Helps Deep Learning-based LiDAR Perception Tasks
Prashant Kumar (Indian Institute of Technology, Delhi),* Dheeraj Vattikonda (McGill University), Vedang Bhupesh Shenvi Nadkarni (Birla Institute of Technology and Science, Pilani), Erqun Dong (McGill University), Sabyasachi Sahoo (Université Laval, Mila)
The 34th British Machine Vision Conference
Abstract
We investigate a new paradigm that uses differentiable SLAM architectures in a self- supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work that leverages SLAM as a training signal for deep learning based models. We explore new ways to improve the efficiency, robustness, and adaptability of LiDAR systems with deep learning techniques. We focus on the potential benefits of differentiable SLAM architectures for improving performance of deep learning tasks such as classification, regression as well as SLAM. Our experimental results demonstrate a non-trivial increase in the performance of two deep learning applications - Ground Level Estimation and Dynamic to Static LiDAR Translation, when used with differentiable SLAM architectures. Overall, our findings provide important insights that enhance the performance of LiDAR based navigation systems. We demonstrate that this new paradigm of using SLAM Loss signal while training LiDAR based models can be easily adopted by the community.Video
Citation
@inproceedings{Kumar_2023_BMVC,
author = {Prashant Kumar and Dheeraj Vattikonda and Vedang Bhupesh Shenvi Nadkarni and Erqun Dong and Sabyasachi Sahoo},
title = {Differentiable SLAM Helps Deep Learning-based LiDAR Perception Tasks},
booktitle = {34th British Machine Vision Conference 2023, {BMVC} 2023, Aberdeen, UK, November 20-24, 2023},
publisher = {BMVA},
year = {2023},
url = {https://papers.bmvc2023.org/0822.pdf}
}
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