LidarCLIP or : How i Learned to Talk to Point Clouds

Hess, Georg; Tonderski, Adam; Petersson, Christoffer; Astrom, Kalle, et al. (2024). LidarCLIP or : How i Learned to Talk to Point Clouds Proceedings - 2024 IEEE Winter Conference on Applications of Computer Vision, WACV 2024, 7423 - 7432. 2024 IEEE Winter Conference on Applications of Computer Vision, WACV 2024. Waikoloa, United States: IEEE - Institute of Electrical and Electronics Engineers Inc.
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DOI:
Conference Proceeding/Paper | Published | English
Authors:
Hess, Georg ; Tonderski, Adam ; Petersson, Christoffer ; Astrom, Kalle , et al.
Department:
eSSENCE: The e-Science Collaboration
LU Profile Area: Natural and Artificial Cognition
LU Profile Area: Nature-based future solutions
Mathematics (Faculty of Engineering)
LU Profile Area: Light and Materials
Centre for Mathematical Sciences
Abstract:

Research connecting text and images has recently seen several breakthroughs, with models like CLIP, DALL•E 2, and Stable Diffusion. However, the connection between text and other visual modalities, such as lidar data, has received less attention, prohibited by the lack of text-lidar datasets. In this work, we propose LidarCLIP, a mapping from automotive point clouds to a pre-existing CLIP embedding space. Using image-lidar pairs, we supervise a point cloud encoder with the image CLIP embeddings, effectively relating text and lidar data with the image domain as an intermediary. We show the effectiveness of Lidar-CLIP by demonstrating that lidar-based retrieval is generally on par with image-based retrieval, but with complementary strengths and weaknesses. By combining image and lidar features, we improve upon both single-modality methods and enable a targeted search for challenging detection scenarios under adverse sensor conditions. We also explore zero-shot classification and show that LidarCLIP outperforms existing attempts to use CLIP for point clouds by a large margin. Finally, we leverage our compatibility with CLIP to explore a range of applications, such as point cloud captioning and lidar-to-image generation, without any additional training. Code and pre-trained models at github.com/atonderski/lidarclip.

Keywords:
Algorithms ; Applications ; Autonomous Driving ; Vision + language and/or other modalities
ISBN:
9798350318920
LUP-ID:
7c9f8308-87df-43af-998b-48dc4a30b4d2 | Link: https://lup.lub.lu.se/record/7c9f8308-87df-43af-998b-48dc4a30b4d2 | Statistics

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