无监督的域适应（UDA）旨在使源域上培训的模型适应到新的目标域，其中没有可用标记的数据。在这项工作中，我们调查从合成计算机生成的域的UDA的问题，以用于学习语义分割的类似但实际的域。我们提出了一种与UDA的一致性正则化方法结合的语义一致的图像到图像转换方法。我们克服了将合成图像转移到真实的图像的先前限制。我们利用伪标签来学习生成的图像到图像转换模型，该图像到图像转换模型从两个域上的语义标签接收额外的反馈。我们的方法优于最先进的方法，将图像到图像转换和半监督学习与相关域适应基准，即Citycapes和Synthia上的CutyCapes和Synthia进行了全面的学习。

Domain adaptation for semantic image segmentation is very necessary since manually labeling large datasets with pixel-level labels is expensive and time consuming. Existing domain adaptation techniques either work on limited datasets, or yield not so good performance compared with supervised learning. In this paper, we propose a novel bidirectional learning framework for domain adaptation of segmentation. Using the bidirectional learning, the image translation model and the segmentation adaptation model can be learned alternatively and promote to each other. Furthermore, we propose a self-supervised learning algorithm to learn a better segmentation adaptation model and in return improve the image translation model. Experiments show that our method is superior to the state-of-the-art methods in domain adaptation of segmentation with a big margin. The source code is available at https://github.com/liyunsheng13/BDL.

深度神经网络（DNN）极大地促进了语义分割中的性能增益。然而，训练DNN通常需要大量的像素级标记数据，这在实践中收集昂贵且耗时。为了减轻注释负担，本文提出了一种自组装的生成对抗网络（SE-GAN）利用语义分割的跨域数据。在SE-GaN中，教师网络和学生网络构成用于生成语义分割图的自组装模型，与鉴别器一起形成GaN。尽管它很简单，我们发现SE-GaN可以显着提高对抗性训练的性能，提高模型的稳定性，这是由大多数普遍培训的方法共享的常见障碍。我们理论上分析SE-GaN并提供$ \ Mathcal o（1 / \ sqrt {n}）$泛化绑定（$ n $是培训样本大小），这表明控制了鉴别者的假设复杂性，以提高概括性。因此，我们选择一个简单的网络作为鉴别器。两个标准设置中的广泛和系统实验表明，该方法显着优于最新的最先进的方法。我们模型的源代码即将推出。

Semantic segmentation is a key problem for many computer vision tasks. While approaches based on convolutional neural networks constantly break new records on different benchmarks, generalizing well to diverse testing environments remains a major challenge. In numerous real world applications, there is indeed a large gap between data distributions in train and test domains, which results in severe performance loss at run-time. In this work, we address the task of unsupervised domain adaptation in semantic segmentation with losses based on the entropy of the pixel-wise predictions. To this end, we propose two novel, complementary methods using (i) an entropy loss and (ii) an adversarial loss respectively. We demonstrate state-of-theart performance in semantic segmentation on two challenging "synthetic-2-real" set-ups 1 and show that the approach can also be used for detection.

培训语义细分模型的现实世界注释收集是一个昂贵的过程。无监督的域适应性（UDA）试图通过研究如何使用更多可访问的数据（例如合成数据）来训练和适应现实世界图像而无需其注释，以解决此问题。最近的UDA方法通过使用学生和教师网络对像素的分类损失进行培训，适用于自学习。在本文中，我们建议通过对网络输出中元素之间的像素间关系进行建模，将一致性正则项添加到半监督UDA中。我们通过将其应用于最先进的涂抹式框架并将GTA5上的MIOU1绩效应用于CityScapes Benchmark，并在Synthia上的MIOU16绩效提高了MIOU19在Synthia上的效果，并将MIOU19上的MIOU1上的性能提高到CityScapes基准，将其应用于CityScapes Benchmark，并将MIOU19上的MIOU1上的性能提高到CityScapes基准，从而证明了拟议的一致性正规化项的有效性。

语义分割在广泛的计算机视觉应用中起着基本作用，提供了全球对图像​​的理解的关键信息。然而，最先进的模型依赖于大量的注释样本，其比在诸如图像分类的任务中获得更昂贵的昂贵的样本。由于未标记的数据替代地获得更便宜，因此无监督的域适应达到了语义分割社区的广泛成功并不令人惊讶。本调查致力于总结这一令人难以置信的快速增长的领域的五年，这包含了语义细分本身的重要性，以及将分段模型适应新环境的关键需求。我们提出了最重要的语义分割方法;我们对语义分割的域适应技术提供了全面的调查;我们揭示了多域学习，域泛化，测试时间适应或无源域适应等较新的趋势;我们通过描述在语义细分研究中最广泛使用的数据集和基准测试来结束本调查。我们希望本调查将在学术界和工业中提供具有全面参考指导的研究人员，并有助于他们培养现场的新研究方向。

使用合成数据来训练在现实世界数据上实现良好性能的神经网络是一项重要任务，因为它可以减少对昂贵数据注释的需求。然而，合成和现实世界数据具有域间隙。近年来，已经广泛研究了这种差距，也称为域的适应性。通过直接执行两者之间的适应性来缩小源（合成）和目标数据之间的域间隙是具有挑战性的。在这项工作中，我们提出了一个新颖的两阶段框架，用于改进图像数据上的域适应技术。在第一阶段，我们逐步训练一个多尺度神经网络，以从源域到目标域进行图像翻译。我们将新的转换数据表示为“目标中的源”（SIT）。然后，我们将生成的SIT数据插入任何标准UDA方法的输入。该新数据从所需的目标域缩小了域间隙，这有助于应用UDA进一步缩小差距的方法。我们通过与其他领先的UDA和图像对图像翻译技术进行比较来强调方法的有效性，当时用作SIT发电机。此外，我们通过三种用于语义分割的最先进的UDA方法（HRDA，daformer and proda）在两个UDA任务上，GTA5到CityScapes和Synthia to CityScapes来证明我们的框架的改进。

由于难以获得地面真理标签，从虚拟世界数据集学习对于像语义分割等现实世界的应用非常关注。从域适应角度来看，关键挑战是学习输入的域名签名表示，以便从虚拟数据中受益。在本文中，我们提出了一种新颖的三叉戟架构，该架构强制执行共享特征编码器，同时满足对抗源和目标约束，从而学习域不变的特征空间。此外，我们还介绍了一种新颖的训练管道，在前向通过期间能够自我引起的跨域数据增强。这有助于进一步减少域间隙。结合自我培训过程，我们在基准数据集（例如GTA5或Synthia适应城市景观）上获得最先进的结果。Https://github.com/hmrc-ael/trideadapt提供了代码和预先训练的型号。

无监督的域适应性（UDA）旨在使标记的源域的模型适应未标记的目标域。现有的基于UDA的语义细分方法始终降低像素级别，功能级别和输出级别的域移动。但是，几乎所有这些都在很大程度上忽略了上下文依赖性，该依赖性通常在不同的领域共享，从而导致较不怀疑的绩效。在本文中，我们提出了一个新颖的环境感知混音（camix）框架自适应语义分割的框架，该框架以完全端到端的可训练方式利用了上下文依赖性的这一重要线索作为显式的先验知识，以增强对适应性的适应性目标域。首先，我们通过利用积累的空间分布和先前的上下文关系来提出上下文掩盖的生成策略。生成的上下文掩码在这项工作中至关重要，并将指导三个不同级别的上下文感知域混合。此外，提供了背景知识，我们引入了重要的一致性损失，以惩罚混合学生预测与混合教师预测之间的不一致，从而减轻了适应性的负面转移，例如早期绩效降级。广泛的实验和分析证明了我们方法对广泛使用的UDA基准的最新方法的有效性。

Domain adaptation is critical for success in new, unseen environments. Adversarial adaptation models applied in feature spaces discover domain invariant representations, but are difficult to visualize and sometimes fail to capture pixel-level and low-level domain shifts. Recent work has shown that generative adversarial networks combined with cycle-consistency constraints are surprisingly effective at mapping images between domains, even without the use of aligned image pairs. We propose a novel discriminatively-trained Cycle-Consistent Adversarial Domain Adaptation model. CyCADA adapts representations at both the pixel-level and feature-level, enforces cycle-consistency while leveraging a task loss, and does not require aligned pairs. Our model can be applied in a variety of visual recognition and prediction settings. We show new state-of-the-art results across multiple adaptation tasks, including digit classification and semantic segmentation of road scenes demonstrating transfer from synthetic to real world domains.

我们建议利用模拟的潜力，以域的概括方式对现实世界自动驾驶场景的语义分割。对分割网络进行了训练，没有任何目标域数据，并在看不见的目标域进行了测试。为此，我们提出了一种新的域随机化和金字塔一致性的方法，以学习具有高推广性的模型。首先，我们建议使用辅助数据集以视觉外观的方式随机将合成图像随机化，以有效地学习域不变表示。其次，我们进一步在不同的“风格化”图像和图像中实施了金字塔一致性，以分别学习域不变和规模不变的特征。关于从GTA和合成对城市景观，BDD和Mapillary的概括进行了广泛的实验；而我们的方法比最新技术取得了卓越的成果。值得注意的是，我们的概括结果与最先进的模拟域适应方法相比甚至更好，甚至比在训练时访问目标域数据的结果。

Convolutional neural network-based approaches for semantic segmentation rely on supervision with pixel-level ground truth, but may not generalize well to unseen image domains. As the labeling process is tedious and labor intensive, developing algorithms that can adapt source ground truth labels to the target domain is of great interest. In this paper, we propose an adversarial learning method for domain adaptation in the context of semantic segmentation. Considering semantic segmentations as structured outputs that contain spatial similarities between the source and target domains, we adopt adversarial learning in the output space. To further enhance the adapted model, we construct a multi-level adversarial network to effectively perform output space domain adaptation at different feature levels. Extensive experiments and ablation study are conducted under various domain adaptation settings, including synthetic-to-real and cross-city scenarios. We show that the proposed method performs favorably against the stateof-the-art methods in terms of accuracy and visual quality.

本文提出了一种新颖的像素级分布正则化方案（DRSL），用于自我监督的语义分割域的适应性。在典型的环境中，分类损失迫使语义分割模型贪婪地学习捕获类间变化的表示形式，以确定决策（类）边界。由于域的转移，该决策边界在目标域中未对齐，从而导致嘈杂的伪标签对自我监督域的适应性产生不利影响。为了克服这一限制，以及捕获阶层间变化，我们通过类感知的多模式分布学习（MMDL）捕获了像素级内的类内变化。因此，捕获阶层内变化所需的信息与阶层间歧视所需的信息明确分开。因此，捕获的功能更具信息性，导致伪噪声低的伪标记。这种分离使我们能够使用前者的基于跨凝结的自学习，在判别空间和多模式分布空间中进行单独的对齐。稍后，我们通过明确降低映射到同一模式的目标和源像素之间的距离来提出一种新型的随机模式比对方法。距离度量标签上计算出的距离度量损失，并从多模式建模头部反向传播，充当与分割头共享的基本网络上的正常化程序。关于合成到真实域的适应设置的全面实验的结果，即GTA-V/Synthia to CityScapes，表明DRSL的表现优于许多现有方法（MIOU的最小余量为2.3％和2.5％，用于MIOU，而合成的MIOU到CityScapes）。

Unsupervised source-free domain adaptation methods aim to train a model to be used in the target domain utilizing the pretrained source-domain model and unlabeled target-domain data, where the source data may not be accessible due to intellectual property or privacy issues. These methods frequently utilize self-training with pseudo-labeling thresholded by prediction confidence. In a source-free scenario, only supervision comes from target data, and thresholding limits the contribution of the self-training. In this study, we utilize self-training with a mean-teacher approach. The student network is trained with all predictions of the teacher network. Instead of thresholding the predictions, the gradients calculated from the pseudo-labels are weighted based on the reliability of the teacher's predictions. We propose a novel method that uses proxy-based metric learning to estimate reliability. We train a metric network on the encoder features of the teacher network. Since the teacher is updated with the moving average, the encoder feature space is slowly changing. Therefore, the metric network can be updated in training time, which enables end-to-end training. We also propose a metric-based online ClassMix method to augment the input of the student network where the patches to be mixed are decided based on the metric reliability. We evaluated our method in synthetic-to-real and cross-city scenarios. The benchmarks show that our method significantly outperforms the existing state-of-the-art methods.

Although unsupervised domain adaptation methods have achieved remarkable performance in semantic scene segmentation in visual perception for self-driving cars, these approaches remain impractical in real-world use cases. In practice, the segmentation models may encounter new data that have not been seen yet. Also, the previous data training of segmentation models may be inaccessible due to privacy problems. Therefore, to address these problems, in this work, we propose a Continual Unsupervised Domain Adaptation (CONDA) approach that allows the model to continuously learn and adapt with respect to the presence of the new data. Moreover, our proposed approach is designed without the requirement of accessing previous training data. To avoid the catastrophic forgetting problem and maintain the performance of the segmentation models, we present a novel Bijective Maximum Likelihood loss to impose the constraint of predicted segmentation distribution shifts. The experimental results on the benchmark of continual unsupervised domain adaptation have shown the advanced performance of the proposed CONDA method.

本文提出FogAdapt，一种用于密集有雾场景的语义细分域的新方法。虽然已经针对显着的研究来减少语义分割中的域移位，但对具有恶劣天气条件的场景的适应仍然是一个开放的问题。由于天气状况，如雾，烟雾和雾度，加剧了域移位的场景的可见性，从而使得在这种情况下进行了无监督的适应性。我们提出了一种自熵和多尺度信息增强的自我监督域适应方法（FOGADAPT），以最大限度地减少有雾场景分割的域移位。由经验证据支持，雾密度的增加导致分割概率的高自熵性，我们引入了基于自熵的损耗功能来引导适应方法。此外，在不同的图像尺度上获得的推论由不确定性组合并加权，以生成目标域的尺度不变伪标签。这些规模不变的伪标签对可见性和比例变化具有鲁棒性。我们在真正的雾景场景中评估了真正的清晰天气场景模型，适应和综合非雾图像到真正的雾场景适应情景。我们的实验表明，FogAdapt在有雾图像的语义分割中的目前最先进的情况下显着优异。具体而言，通过考虑标准设置与最先进的（SOTA）方法相比，FogaDATK在Foggy苏黎世上获得3.8％，有雾的驾驶密集为6.0％，而在Miou的雾化驾驶的3.6％，在Miou，在MiOOP中改编为有雾的苏黎世。

Unsupervised domain adaptation (UDA) for semantic segmentation is a promising task freeing people from heavy annotation work. However, domain discrepancies in low-level image statistics and high-level contexts compromise the segmentation performance over the target domain. A key idea to tackle this problem is to perform both image-level and feature-level adaptation jointly. Unfortunately, there is a lack of such unified approaches for UDA tasks in the existing literature. This paper proposes a novel UDA pipeline for semantic segmentation that unifies image-level and feature-level adaptation. Concretely, for image-level domain shifts, we propose a global photometric alignment module and a global texture alignment module that align images in the source and target domains in terms of image-level properties. For feature-level domain shifts, we perform global manifold alignment by projecting pixel features from both domains onto the feature manifold of the source domain; and we further regularize category centers in the source domain through a category-oriented triplet loss and perform target domain consistency regularization over augmented target domain images. Experimental results demonstrate that our pipeline significantly outperforms previous methods. In the commonly tested GTA5$\rightarrow$Cityscapes task, our proposed method using Deeplab V3+ as the backbone surpasses previous SOTA by 8%, achieving 58.2% in mIoU.

域的适应性引起了极大的兴趣，因为标签是一项昂贵且容易出错的任务，尤其是当像素级在语义分段中需要标签时。因此，人们希望能够在数据丰富并且标签精确的合成域上训练神经网络。但是，这些模型通常在室外图像上表现不佳。为了减轻输入的变化，可以使用图像到图像的方法。然而，使用合成训练域桥接部署领域的标准图像到图像方法并不关注下游任务，而仅关注视觉检查级别。因此，我们在图像到图像域的适应方法中提出了gan的“任务意识”版本。借助少量标记的地面真实数据，我们将图像到图像翻译指导为更合适的输入图像，用于培训合成数据（合成域专家）的语义分割网络。这项工作的主要贡献是1）一种模块化半监督域适应方法，通过训练下游任务Aware Cycean，同时避免适应合成语义分割专家2）该方法适用于复杂的域适应任务3）通过使用从头开始网络进行较不偏见的域间隙分析。我们在分类任务以及语义细分方面评估我们的方法。我们的实验表明，我们的方法比仅使用70（10％）地面真实图像的分类任务中的准确性优于标准图像到图像方法 - 准确性的准确性7％。对于语义细分，我们可以在训练过程中仅使用14个地面真相图像，在均值评估数据集上，平均交叉点比联合的平均交叉点约4％至7％。

We describe a simple method for unsupervised domain adaptation, whereby the discrepancy between the source and target distributions is reduced by swapping the lowfrequency spectrum of one with the other. We illustrate the method in semantic segmentation, where densely annotated images are aplenty in one domain (e.g., synthetic data), but difficult to obtain in another (e.g., real images). Current state-of-the-art methods are complex, some requiring adversarial optimization to render the backbone of a neural network invariant to the discrete domain selection variable. Our method does not require any training to perform the domain alignment, just a simple Fourier Transform and its inverse. Despite its simplicity, it achieves state-of-the-art performance in the current benchmarks, when integrated into a relatively standard semantic segmentation model. Our results indicate that even simple procedures can discount nuisance variability in the data that more sophisticated methods struggle to learn away. 1

在这项工作中，我们提出了Cluda，这是一种简单而又新颖的方法，用于通过将对比损失纳入学生教师学习范式中，以进行语义分割，以进行语义分割，以利用伪标记，以通过伪标记产生的伪标记。教师网络。更具体地说，我们从编码器中提取多级融合功能图，并通过图像的源目标混合使用不同类别和不同域的对比度损失。我们始终提高各种特征编码器体系结构和语义分割中不同域适应数据集的性能。此外，我们引入了一种学识渊博的对比损失，以改善UDA最先进的多分辨率训练方法。我们在gta $ \ rightarrow $ cityScapes（74.4 miou，+0.6）和Synthia $ \ rightarrow $ cityScapes（67.2 miou，+1.4）数据集上产生最先进的结果。 Cluda有效地证明了UDA中的对比度学习是一种通用方法，可以轻松地将其集成到任何现有的UDA中以进行语义分割任务。有关实施的详细信息，请参考补充材料。