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Register a new userUnsupervised Domain Adaptive Object Detection using Forward-Backward Cyclic Adaptation
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Siqi Yang
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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We present a novel approach to perform the unsupervised domain adaptation for object detection through forward-backward cyclic (FBC) training. Recent adversarial training based domain adaptation methods have shown their effectiveness on minimizing domain discrepancy via marginal feature distributions alignment. However, aligning the marginal feature distributions does not guarantee the alignment of class conditional distributions. This limitation is more evident when adapting object detectors as the domain discrepancy is larger compared to the image classification task, e.g. various number of objects exist in one image and the majority of content in an image is the background. This motivates us to learn domain invariance for category level semantics via gradient alignment. Intuitively, if the gradients of two domains point in similar directions, then the learning of one domain can improve that of another domain. To achieve gradient alignment, we propose Forward-Backward Cyclic Adaptation, which iteratively computes adaptation from source to target via backward hopping and from target to source via forward passing. In addition, we align low-level features for adapting holistic color/texture via adversarial training. However, the detector performs well on both domains is not ideal for target domain. As such, in each cycle, domain diversity is enforced by maximum entropy regularization on the source domain to penalize confident source-specific learning and minimum entropy regularization on target domain to intrigue target-specific learning. Theoretical analysis of the training process is provided, and extensive experiments on challenging cross-domain object detection datasets have shown the superiority of our approach over the state-of-the-art.
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Unsupervised domain adaptive object detection aims to adapt detectors from a labelled source domain to an unlabelled target domain. Most existing works take a two-stage strategy that first generates region proposals and then detects objects of interest, where adversarial learning is widely adopted to mitigate the inter-domain discrepancy in both stages. However, adversarial learning may impair the alignment of well-aligned samples as it merely aligns the global distributions across domains. To address this issue, we design an uncertainty-aware domain adaptation network (UaDAN) that introduces conditional adversarial learning to align well-aligned and poorly-aligned samples separately in different manners. Specifically, we design an uncertainty metric that assesses the alignment of each sample and adjusts the strength of adversarial learning for well-aligned and poorly-aligned samples adaptively. In addition, we exploit the uncertainty metric to achieve curriculum learning that first performs easier image-level alignment and then more difficult instance-level alignment progressively. Extensive experiments over four challenging domain adaptive object detection datasets show that UaDAN achieves superior performance as compared with state-of-the-art methods.
This work tackles the unsupervised cross-domain object detection problem which aims to generalize a pre-trained object detector to a new target domain without labels. We propose an uncertainty-aware model adaptation method, which is based on two motivations: 1) the estimation and exploitation of model uncertainty in a new domain is critical for reliable domain adaptation; and 2) the joint alignment of distributions for inputs (feature alignment) and outputs (self-training) is needed. To this end, we compose a Bayesian CNN-based framework for uncertainty estimation in object detection, and propose an algorithm for generation of uncertainty-aware pseudo-labels. We also devise a scheme for joint feature alignment and self-training of the object detection model with uncertainty-aware pseudo-labels. Experiments on multiple cross-domain object detection benchmarks show that our proposed method achieves state-of-the-art performance.
Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain idiosyncrasies, making them fail in new environments -- a serious problem if autonomous vehicles are meant to operate freely. In this paper, we propose a novel learning approach that drastically reduces this gap by fine-tuning the detector on pseudo-labels in the target domain, which our method generates while the vehicle is parked, based on replays of previously recorded driving sequences. In these replays, objects are tracked over time, and detections are interpolated and extrapolated -- crucially, leveraging future information to catch hard cases. We show, on five autonomous driving datasets, that fine-tuning the object detector on these pseudo-labels substantially reduces the domain gap to new driving environments, yielding drastic improvements in accuracy and detection reliability.
We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object scaling strategy for mitigating the negative effects of source domain bias. Then, the detector is iteratively improved on the target domain by alternatively conducting two steps, which are the pseudo label updating with the developed quality-aware triplet memory bank and the model training with curriculum data augmentation. These specific designs for 3D object detection enable the detector to be trained with consistent and high-quality pseudo labels and to avoid overfitting to the large number of easy examples in pseudo labeled data. Our ST3D achieves state-of-the-art performance on all evaluated datasets and even surpasses fully supervised results on KITTI 3D object detection benchmark. Code will be available at https://github.com/CVMI-Lab/ST3D.
In real applications, object detectors based on deep networks still face challenges of the large domain gap between the labeled training data and unlabeled testing data. To reduce the gap, recent techniques are proposed by aligning the image/instance-level features between source and unlabeled target domains. However, these methods suffer from the suboptimal problem mainly because of ignoring the category information of object instances. To tackle this issue, we develop a fine-grained domain alignment approach with a well-designed domain classifier bank that achieves the instance-level alignment respecting to their categories. Specifically, we first employ the mean teacher paradigm to generate pseudo labels for unlabeled samples. Then we implement the class-level domain classifiers and group them together, called domain classifier bank, in which each domain classifier is responsible for aligning features of a specific class. We assemble the bare object detector with the proposed fine-grained domain alignment mechanism as the adaptive detector, and optimize it with a developed crossed adaptive weighting mechanism. Extensive experiments on three popular transferring benchmarks demonstrate the effectiveness of our method and achieve the new remarkable state-of-the-arts.
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