Active Learning with Core-Set Sampling and Scale-Sensitive Loss for 3D Object Detection

Abstract

Deep learning-based 3D object detectors often require large-scale labeled 3D datasets, which can be expensive to annotate. To tackle this issue, we introduce a core-set sampling strategy within an active learning framework, selecting highly informative data from a data pool to reduce reliance on such datasets. Additionally, we introduce a scale-sensitive loss function into the 3D object detector to mitigate the disparities in the influence of small and large objects on model learning, thereby enhancing the accuracy of small object detection. Our experiments on the KITTI dataset demonstrate that our method achieves comparable results to the baseline using only 20% of the data. Notably, our approach outperforms the baseline in small object detection, with an 8% accuracy improvement for pedestrians and a 4% improvement for cyclists. The source code of the proposed method is available at https://github.com/djzgroup/al-cs-ssl.