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arXiv 2107.04523cs.CV

Learning Cascaded Detection Tasks with Weakly-Supervised Domain Adaptation

Mercedes-Benz AG(梅赛德斯-奔驰股份公司);University of Tübingen(图宾根大学);Robert Bosch GmbH(罗伯特·博世有限公司);Max Planck Institute for Intelligent Systems(马克斯·普朗克智能系统研究所)

Niklas Hanselmann, Nick Schneider, Benedikt Ortelt, Andreas Geiger

英文摘要:

In order to handle the challenges of autonomous driving, deep learning has proven to be crucial in tackling increasingly complex tasks, such as 3D detection or instance segmentation. State-of-the-art approaches for image-based detection tasks tackle this complexity by operating in a cascaded fashion: they first extract a 2D bounding box based on which additional attributes, e.g. instance masks, are inferred. While these methods perform well, a key challenge remains the lack of accurate and cheap annotations for the growing variety of tasks. Synthetic data presents a promising solution but, despite the effort in domain adaptation research, the gap between synthetic and real data remains an open problem. In this work, we propose a weakly supervised domain adaptation setting which exploits the structure of cascaded detection tasks. In particular, we learn to infer the attributes solely from the source domain while leveraging 2D bounding boxes as weak labels in both domains to explain the domain shift. We further encourage domain-invariant features through class-wise feature alignment using ground-truth class information, which is not available in the unsupervised setting. As our experiments demonstrate, the approach is competitive with fully supervised settings while outperforming unsupervised adaptation approaches by a large margin.

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