Point Cloud Robustness Analysis

Table of Links

Abstract and 1. Introduction

2. Related Work

3. Method

   3.1 Overview of Our Method

   3.2 Coarse Text-cell Retrieval

   3.3 Fine Position Estimation

   3.4 Training Objectives

4. Experiments

   4.1 Dataset Description and 4.2 Implementation Details

   4.3 Evaluation Criteria and 4.4 Results

5. Performance Analysis

   5.1 Ablation Study

   5.2 Qualitative Analysis and 5.3 Text Embedding Analysis

6. Conclusion and References

Supplementary Material

7. Details of KITTI360Pose Dataset
8. More Experiments on the Instance Query Extractor
9. Text-Cell Embedding Space Analysis
10. More Visualization Results
11. Point Cloud Robustness Analysis

Anonymous Authors

1. Details of KITTI360Pose Dataset
2. More Experiments on the Instance Query Extractor
3. Text-Cell Embedding Space Analysis
4. More Visualization Results
5. Point Cloud Robustness Analysis

5 POINT CLOUD ROBUSTNESS ANALYSIS

Previous works [? ? ? ] focused solely on examining the impact of textual modifications on localization accuracy, ignoring the impact of point cloud modification. In this study, we further consider the effects of point cloud degradation, which is crucial for fully analyzing our IFRP-T2P model. Unlike the accumulated point clouds provided in the KITTI360Pose dataset, LiDAR sensors typically capture only sparse point clouds in real-world settings. To assess the robustness of our model under conditions of point cloud sparsity, we conduct experiments by randomly masking out one-third of the points and compare these results to those obtained using raw point clouds. As illustrated in Fig. 4, when taking the masked point cloud as input, our IFRP-T2P model achieves a localization recall of 0.20 at top-1 with an error bound of 𝜖 < 5𝑚 on the validation set. Compared to Text2Loc, which shows a degradation of 22.2%, our model exhibits a lower degradation rate of 15%. This result indicates that our model is more robust to point cloud variation.