We have proposed a novel method, OYSTER, for unsupervised object detection from LiDAR point clouds. Using weak object priors (near-range point clustering) as a bootstrapping step, our method can train an object detector with no human annotations, by first utilizing the translation equivariance of CNNs to generate long-range pseudo-labels, and then deriving self-supervision signals from the temporal consistency of object tracks. Our proposed self-training loop is highly effective for teaching an unsupervised detector to self-improve. We validate our results on two real-world datasets, Pandaset and Argoverse 2 Sensor, where our model outperforms prior unsupervised methods by a significant margin. Making self-supervised learning work on real-world robot perception is an exciting challenge for AI, and our work takes a step towards allowing robots to make sense of the visual world without human supervision.
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