Cross-Modality Domain Adaptation for Freespace Detection: A Simple yet Effective Baseline

by   Yuanbin Wang, et al.

As one of the fundamental functions of autonomous driving system, freespace detection aims at classifying each pixel of the image captured by the camera as drivable or non-drivable. Current works of freespace detection heavily rely on large amount of densely labeled training data for accuracy and robustness, which is time-consuming and laborious to collect and annotate. To the best of our knowledge, we are the first work to explore unsupervised domain adaptation for freespace detection to alleviate the data limitation problem with synthetic data. We develop a cross-modality domain adaptation framework which exploits both RGB images and surface normal maps generated from depth images. A Collaborative Cross Guidance (CCG) module is proposed to leverage the context information of one modality to guide the other modality in a cross manner, thus realizing inter-modality intra-domain complement. To better bridge the domain gap between source domain (synthetic data) and target domain (real-world data), we also propose a Selective Feature Alignment (SFA) module which only aligns the features of consistent foreground area between the two domains, thus realizing inter-domain intra-modality adaptation. Extensive experiments are conducted by adapting three different synthetic datasets to one real-world dataset for freespace detection respectively. Our method performs closely to fully supervised freespace detection methods (93.08 v.s. 97.50 F1 score) and outperforms other general unsupervised domain adaptation methods for semantic segmentation with large margins, which shows the promising potential of domain adaptation for freespace detection.


page 2

page 5

page 8

page 12


LE-UDA: Label-efficient unsupervised domain adaptation for medical image segmentation

While deep learning methods hitherto have achieved considerable success ...

Unsupervised Cross-Modality Domain Adaptation of ConvNets for Biomedical Image Segmentations with Adversarial Loss

Convolutional networks (ConvNets) have achieved great successes in vario...

Unsupervised Domain Adaptation with Multiple Domain Discriminators and Adaptive Self-Training

Unsupervised Domain Adaptation (UDA) aims at improving the generalizatio...

Sim-to-Real Domain Adaptation for Lane Detection and Classification in Autonomous Driving

While supervised detection and classification frameworks in autonomous d...

Unsupervised Domain Adaptation in Semantic Segmentation Based on Pixel Alignment and Self-Training

This paper proposes an unsupervised cross-modality domain adaptation app...

Learning Cascaded Detection Tasks with Weakly-Supervised Domain Adaptation

In order to handle the challenges of autonomous driving, deep learning h...

Towards Privacy-Supporting Fall Detection via Deep Unsupervised RGB2Depth Adaptation

Fall detection is a vital task in health monitoring, as it allows the sy...

Please sign up or login with your details

Forgot password? Click here to reset