提升激光雷达分割在恶劣天气下的泛化能力,无需改动原有模型结构。
Towards Generalized Range-View LiDAR Segmentation in Adverse Weather
- 分两路处理几何与反射强度,分别抑制天气噪声和校正反射畸变。
- 在多个数据集上显著提升恶劣天气下的分割精度,推理开销极低。
- 适合需要实时部署的自动驾驶场景,尤其关注环境鲁棒性。
激光雷达分割已成为增强场景感知的重要任务。基于距离视图的方法因其高效计算和实时部署兼容性而广受欢迎,但在恶劣天气下的泛化性能仍缺乏研究,限制了其在真实环境中的可靠性。本文分析了严重天气对距离视图激光雷达分割泛化能力的影响,提出一种模块化轻量级框架,在不改变现有模型核心架构的前提下提升鲁棒性。方法将标准距离视图网络的初始主干块重构为双分支,分别处理几何属性与反射强度。其中,几何异常抑制(GAS)模块降低天气引起的空间噪声影响,反射畸变校准(RDC)模块通过记忆引导的自适应实例归一化校正反射畸变。处理后的特征融合后输入原分割流程。大量实验在不同基准和基线模型上验证,结果表明该方法显著提升恶劣天气下的泛化性能,且推理开销极小,为实际应用提供高效可行的解决方案。
原文摘要 · Abstract (English)
LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment. However, their generalized performance under adverse weather conditions remains underexplored, limiting their reliability in real-world environments. In this work, we identify and analyze the unique challenges that affect the generalization of range-view LiDAR segmentation in severe weather. To address these challenges, we propose a modular and lightweight framework that enhances robustness without altering the core architecture of existing models. Our method reformulates the initial stem block of standard range-view networks into two branches to process geometric attributes and reflectance intensity separately. Specifically, a Geometric Abnormality Suppression (GAS) module reduces the influence of weather-induced spatial noise, and a Reflectance Distortion Calibration (RDC) module corrects reflectance distortions through memory-guided adaptive instance normalization. The processed features are then fused and passed to the original segmentation pipeline. Extensive experiments on different benchmarks and baseline models demonstrate that our approach significantly improves generalization to adverse weather with minimal inference overhead, offering a practical and effective solution for real-world LiDAR segmentation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。