Correlation Field for Boosting 3D Object Detection in Structured Scenes

Abstract

Data augmentation is an efficient way to elevate 3D object detection performance. In this paper, we propose a simple but effective online crop-and-paste data augmentation pipeline for structured 3D point cloud scenes, named CorrelaBoost. Observing that 3D objects should have reasonable relative positions in a structured scene because of the objects' functionalities and natural relationships, we express this correlation as a kind of interactive force. An energy field called Correlation Field can be calculated correspondingly across the whole 3D space. According to the Correlation Field, we propose two data augmentation strategies to explore highly congruent positions that a designated object may be pasted to: 1) Category Consistent Exchanging and 2) Energy Optimized Transformation. We conduct exhaustive experiments on various popular benchmarks with different detection frameworks and the results illustrate that our method brings huge free-lunch improvement and significantly outperforms state-of-the-art approaches in terms of data augmentation. It is worth noting that the performance of VoteNet with mAP@0.5 is improved by 7.7 on ScanNetV2 dataset and 5.0 on SUN RGB-D dataset. Our method is simple to implement and increases few computational overhead.