In this paper, we propose a semi-supervised triplet loss function that realizes semi-supervised representation learning in a novel manner. We extend conventional triplet loss, which uses labeled data to achieve representation learning, so that it can deal with unlabeled data. We estimate, in advance, the degree to which each label applies to each unlabeled data point, and optimize the loss function with unlabeled features according to the resulting ratios. Since the proposed loss function has the effect of adjusting the distribution of all unlabeled data, it complements methods based on consistency regularization, which has been extensively studied in recent years. Combined with a consistency regularization-based method, our method achieves more accurate semi-supervised learning. Experiments show that the proposed loss function achieves a higher accuracy than the conventional fine-tuning method.

In recent years, there has been a growing demand for urban digitization using cameras and light detection and ranging (LiDAR). Shadows are a condition that affects measurement the most. Therefore, shadow detection technology is essential. In this study, we propose shadow detection utilizing the LiDAR intensity that depends on the surface properties of objects but not on irradiation from other light sources. Unlike conventional LiDAR-intensity-aided shadow detection methods, our method embeds the un-correlation between luminance and LiDAR intensity in each position into the optimization. The energy, which is defined by the un-correlation between luminance and LiDAR intensity in each position, is minimized by graph-cut segmentation to detect shadows. In evaluations on KITTI and Waymo datasets, our shadow-detection method outperformed the previous methods in terms of multiple evaluation indices.