{"ID":2889999,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.20397","arxiv_id":"2507.20397","title":"VESPA: Towards un(Human)supervised Open-World Pointcloud Labeling for Autonomous Driving","abstract":"Data collection for autonomous driving is rapidly accelerating, but manual annotation, especially for 3D labels, remains a major bottleneck due to its high cost and labor intensity. Autolabeling has emerged as a scalable alternative, allowing the generation of labels for point clouds with minimal human intervention. While LiDAR-based autolabeling methods leverage geometric information, they struggle with inherent limitations of lidar data, such as sparsity, occlusions, and incomplete object observations. Furthermore, these methods typically operate in a class-agnostic manner, offering limited semantic granularity. To address these challenges, we introduce VESPA, a multimodal autolabeling pipeline that fuses the geometric precision of LiDAR with the semantic richness of camera images. Our approach leverages vision-language models (VLMs) to enable open-vocabulary object labeling and to refine detection quality directly in the point cloud domain. VESPA supports the discovery of novel categories and produces high-quality 3D pseudolabels without requiring ground-truth annotations or HD maps. On Nuscenes dataset, VESPA achieves an AP of 52.95% for object discovery and up to 46.54% for multiclass object detection, demonstrating strong performance in scalable 3D scene understanding. Code will be available upon acceptance.","short_abstract":"Data collection for autonomous driving is rapidly accelerating, but manual annotation, especially for 3D labels, remains a major bottleneck due to its high cost and labor intensity. Autolabeling has emerged as a scalable alternative, allowing the generation of labels for point clouds with minimal human intervention. Wh...","url_abs":"https://arxiv.org/abs/2507.20397","url_pdf":"https://arxiv.org/pdf/2507.20397v1","authors":"[\"Levente Tempfli\",\"Esteban Rivera\",\"Markus Lienkamp\"]","published":"2025-07-27T19:39:29Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[\"Language Model\"]","has_code":false}