Data augmentation has been widely used to improve generalization in training deep neural networks. Recent works show that using worst-case transformations or adversarial augmentation strategies can significantly improve accuracy and robustness. However, due to the non-differentiable properties of image transformations, searching algorithms such as reinforcement learning or evolution strategy have to be applied, which are not computationally practical for large-scale problems. In this work, we show that by simply applying consistency training with random data augmentation, state-of-the-art results on domain adaptation (DA) and generalization (DG) can be obtained. To further improve the accuracy and robustness with adversarial examples, we propose a differentiable adversarial data augmentation method based on spatial transformer networks (STNs). The combined adversarial and random-transformation-based method outperforms the state-of-the-art on multiple DA and DG benchmark datasets. Furthermore, the proposed method shows desirable robustness to corruption, which is also validated on commonly used datasets.

LiDAR-based place recognition (LPR) technology processes 3D LiDAR point clouds and encodes them into feature descriptors, enabling mobile robots to recognize previously visited locations. This capabil...