Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we present a framework for semi-supervised and domain-adaptive semantic segmentation, which is enhanced by self-supervised monocular depth estimation (SDE) trained only on unlabeled image sequences. In particular, we utilize SDE as an auxiliary task comprehensively across the entire learning framework: First, we automatically select the most useful samples to be annotated for semantic segmentation based on the correlation of sample diversity and difficulty between SDE and semantic segmentation. Second, we implement a strong data augmentation by mixing images and labels using the geometry of the scene. Third, we transfer knowledge from features learned during SDE to semantic segmentation by means of transfer and multi-task learning. And fourth, we exploit additional labeled synthetic data with Cross-Domain DepthMix and Matching Geometry Sampling to align synthetic and real data. We validate the proposed model on the Cityscapes dataset, where all four contributions demonstrate significant performance gains, and achieve state-of-the-art results for semi-supervised semantic segmentation as well as for semi-supervised domain adaptation. In particular, with only 1/30 of the Cityscapes labels, our method achieves 92% of the fully-supervised baseline performance and even 97% when exploiting additional data from GTA. The source code is available at https://github.com/lhoyer/improving_segmentation_with_selfsupervised_depth.
Download