Handling Domain Shift in 3D Point Cloud Perception

This thesis addresses the problem of domain shift in 3D point cloud perception. In the last decades, there has been tremendous progress in within-domain training and testing. However, the performance of perception models is affected when training on a source domain and testing on a target domain sampled from different data distributions. As a result, a change in sensor or geo-location can lead to a harmful drop in model performance. While solutions exist for image perception, addressing this problem in point clouds remains unresolved. The focus of this thesis is the study and design of solutions for mitigating domain shift in 3D point cloud perception. We identify several settings differing in the level of target supervision and the availability of source data. We conduct a thorough study of each setting and introduce a new method to solve domain shift in each configuration. In particular, we study three novel settings in domain adaptation and domain generalization and propose five new methods for mitigating domain shift in 3D point cloud perception. Our methods are used by the research community, and at the time of writing, some of the proposed approaches hold the state-of-the-art. In conclusion, this thesis provides a valuable contribution to the computer vision community, setting the groundwork for the development of future works in cross-domain conditions.