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IROS 2023

IDA: Informed Domain Adaptive Semantic Segmentation

Conference Paper Accepted Paper Artificial Intelligence ยท Robotics

Abstract

Mixup-based data augmentation has been validated to be a critical stage in the self-training framework for unsupervised domain adaptive semantic segmentation (UDASS), which aims to transfer knowledge from a well-annotated (source) domain to an unlabeled (target) domain. Existing self-training methods usually adopt the popular region-based mixup techniques with a random sampling strategy, which unfortunately ignores the dynamic evolution of different semantics across various domains as training proceeds. To improve the UDA-SS performance, we propose an Informed Domain Adaptation (IDA) model, a self-training framework that mixes the data based on class-level segmentation performance, which aims to emphasize small-region semantics during mixup. In our IDA model, the class-level performance is tracked by an expected confidence score (ECS). We then use a dynamic schedule to determine the mixing ratio for data in different domains. Extensive experimental results reveal that our proposed method is able to outperform the state-of-the-art UDA-SS method by a margin of 1. 1 mIoU in the adaptation of GTA-V to Cityscapes and of 0. 9 mIoU in the adaptation of SYNTHIA to Cityscapes. Code link: https://github.com/ArlenCHEN/IDA.git

Authors

Keywords

  • Training
  • Adaptation models
  • Schedules
  • Codes
  • Semantic segmentation
  • Semantics
  • Dynamic scheduling
  • Domain Adaptation
  • Adaptive Segmentation
  • Domain Adaptation For Semantic Segmentation
  • Random Sampling
  • Data Augmentation
  • Target Domain
  • Segmentation Performance
  • Source Domain
  • Maximum And Minimum
  • Dynamic Changes
  • Basis Functions
  • Deep Neural Network
  • Classification Performance
  • Type Classification
  • Teacher Model
  • Changes In Data
  • Labeled Data
  • Source Images
  • Pseudo Labels
  • Classifier Selection
  • Progressive Training
  • Label Space
  • Student Model
  • Source Labels
  • Semantic Annotation
  • Mixed Data
  • Selectivity Ratio
  • Target Data

Context

Venue
IEEE/RSJ International Conference on Intelligent Robots and Systems
Archive span
1988-2025
Indexed papers
26578
Paper id
726097386147476272
v2026.09.13