Semantic scene completion, also known as semantic oc-cupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Un-fortunately, existing methods usually formulate this task as a voxel-wise classification problem and treat each voxel equally in 3D space during training. As the hard voxels have not been paid enough attention, the performance in some challenging regions is limited. The 3D dense space typically contains a large number of empty voxels, which are easy to learn but require amounts of computation due to handling all the voxels uniformly for the existing models. Further-more, the voxels in the boundary region are more challenging to differentiate than those in the interior. In this paper, we propose HASSC approach to train the semantic scene completion model with hardness-aware design. The global hardness from the network optimization process is defined for dynamical hard voxel selection. Then, the local hard-ness with geometric anisotropy is adopted for voxel- wise refinement. Besides, self-distillation strategy is introduced to make training process stable and consistent. Extensive experiments show that our HASSC scheme can effectively promote the accuracy of the baseline model without incur-ring the extra inference cost. Source code is available at: https://github.com/songw-zju/HASSC.

In contrast to fully supervised methods using pixel-wise mask labels, box-supervised instance segmentation takes advantage of simple box annotations, which has recently attracted increasing research attention. This paper presents a novel single-shot instance segmentation approach, namely Box2Mask, which integrates the classical level-set evolution model into deep neural network learning to achieve accurate mask prediction with only bounding box supervision. Specifically, both the input image and its deep features are employed to evolve the level-set curves implicitly, and a local consistency module based on a pixel affinity kernel is used to mine the local context and spatial relations. Two types of single-stage frameworks, i.e., CNN-based and transformer-based frameworks, are developed to empower the level-set evolution for box-supervised instance segmentation, and each framework consists of three essential components: instance-aware decoder, box-level matching assignment and level-set evolution. By minimizing the level-set energy function, the mask map of each instance can be iteratively optimized within its bounding box annotation. The experimental results on five challenging testbeds, covering general scenes, remote sensing, medical and scene text images, demonstrate the outstanding performance of our proposed Box2Mask approach for box-supervised instance segmentation. In particular, with the Swin-Transformer large backbone, our Box2Mask obtains 42.4% mask AP on COCO, which is on par with the recently developed fully mask-supervised methods.

Semantic segmentation in driving scenarios is important for modern autonomous driving technology. While the existing methods have shown promising results in segmenting normal-condition images, their performance in adverse scenes remains unsatisfactory due to limited visual field and lack of annotation. To address this issue, we propose an unsupervised domain adaptation semantic segmentation method with the transformer architecture, namely ACSegFormer, for driving-scene adverse conditions, aiming at mining image features in visually restricted scenes. Three effective training strategies are proposed in ACSegFormer to learn the latent image context relations and to reduce the gaps between different domains: an entropy-based pseudo label correction scheme that refines the target domain predictions with the normal reference predictions, an optimal transport-based inter-domain alignment module that performs domain alignment on the outputs of transformer encoder, and a masked context learning module that enhances the model’s ability to perceive the missing information of target domain image. Our ACSegFormer has no additional training parameters on top of the existing transformer segmentation framework, which can be easily used for self-training-based unsupervised domain adaptation approaches. The experimental results show that our ACSegFormer achieves state-of-the-art performance on driving-scene segmentation benchmarks in adverse conditions, including Dark Zurich and ACDC. Codes and models are available athttps://github.com/wenyyu/ACSegFormer.

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently. However, the vanilla LiDAR-based BEV feature often contains many indefinite noises, where the spatial features have little texture and semantic cues. In this paper, we propose an effective LiDAR-based method to build semantic map. Specifically, we introduce a BEV pyramid feature decoder that learns the robust multi-scale BEV features for semantic map construction, which greatly boosts the accuracy of the LiDAR-based method. To mitigate the defects caused by lacking semantic cues in LiDAR data, we present an online Camera-to-LiDAR distillation scheme to facilitate the semantic learning from image to point cloud. Our distillation scheme consists of feature-level and log it-level distillation to absorb the semantic information from camera in BEV. The experimental results on challenging nuScenes dataset demonstrate the efficacy of our proposed LiDAR2Map on semantic map construction, which significantly outperforms the previous LiDAR-based methods over 27.9% mIoU and even performs better than the state-of-the-art camera-based approaches. Source code is available at: https://github.com/songw-zjuILiDAR2Map.

Weakly-supervised segmentation with label-efficient sparse annotations has attracted increasing research attention to reduce the cost of laborious pixel-wise labeling process, while the pairwise affinity modeling techniques play an essential role in this task. Most of the existing approaches focus on using the local appearance kernel to model the neighboring pairwise potentials. However, such a local operation fails to capture the long-range dependencies and ignores the topology of objects. In this work, we formulate the affinity modeling as an affinity propagation process, and propose a local and a global pairwise affinity terms to generate accurate soft pseudo labels. An efficient algorithm is also developed to reduce significantly the computational cost. The proposed approach can be conveniently plugged into existing segmentation networks. Experiments on three typical label-efficient segmentation tasks, i.e. box-supervised instance segmentation, point/scribble-supervised semantic segmentation and CLIP-guided semantic segmentation, demonstrate the superior performance of the proposed approach.

Semantic segmentation on driving-scene images is vital for autonomous driving. Although encouraging performance has been achieved on daytime images, the performance on nighttime images are less satisfactory due to the insufficient exposure and the lack of labeled data. To address these issues, we present an add-on module called dual image-adaptive learnable filters (DIAL-Filters) to improve the semantic segmentation in nighttime driving conditions, aiming at exploiting the intrinsic features of driving-scene images under different illuminations. DIAL-Filters consist of two parts, including an image-adaptive processing module (IAPM) and a learnable guided filter (LGF). With DIAL-Filters, we design both unsupervised and supervised frameworks for nighttime driving-scene segmentation, which can be trained in an end-to-end manner. Specifically, the IAPM module consists of a small convolutional neural network with a set of differentiable image filters, where each image can be adaptively enhanced for better segmentation with respect to the different illuminations. The LGF is employed to enhance the output of segmentation network to get the final segmentation result. The DIAL-Filters are light-weight and efficient and they can be readily applied for both daytime and nighttime images. Our experiments show that DAIL-Filters can significantly improve the supervised segmentation performance on ACDC_Night and NightCity datasets, while it demonstrates the state-of-the-art performance on unsupervised nighttime semantic segmentation on Dark Zurich and Nighttime Driving testbeds. Codes and models are available athttps://github.com/wenyyu/IA-Seg.

Though deep learning-based object detection methods have achieved promising results on the conventional datasets, it is still challenging to locate objects from the low-quality images captured in adverse weather conditions. The existing methods either have difficulties in balancing the tasks of image enhancement and object detection, or often ignore the latent information beneficial for detection. To alleviate this problem, we propose a novel Image-Adaptive YOLO (IA-YOLO) framework, where each image can be adaptively enhanced for better detection performance. Specifically, a differentiable image processing (DIP) module is presented to take into account the adverse weather conditions for YOLO detector, whose parameters are predicted by a small convolutional neural network (CNN-PP). We learn CNN-PP and YOLOv3 jointly in an end-to-end fashion, which ensures that CNN-PP can learn an appropriate DIP to enhance the image for detection in a weakly supervised manner. Our proposed IA-YOLO approach can adaptively process images in both normal and adverse weather conditions. The experimental results are very encouraging, demonstrating the effectiveness of our proposed IA-YOLO method in both foggy and low-light scenarios. The source code can be found at https://github.com/wenyyu/Image-Adaptive-YOLO.

The accurate exposure is the key of capturing high-quality photos in computational photography, especially for mobile phones that are limited by sizes of camera modules. Inspired by luminosity masks usually applied by professional photographers, in this paper, we develop a novel algorithm for learning local exposures with deep reinforcement adversarial learning. To be specific, we segment an image into sub-images that can reflect variations of dynamic range exposures according to raw low-level features. Based on these sub-images, a local exposure for each sub-image is automatically learned by virtue of policy network sequentially while the reward of learning is globally designed for striking a balance of overall exposures. The aesthetic evaluation function is approximated by discriminator in generative adversarial networks. The reinforcement learning and the adversarial learning are trained collaboratively by asynchronous deterministic policy gradient and generative loss approximation. To further simply the algorithmic architecture, we also prove the feasibility of leveraging the discriminator as the value function. Further more, we employ each local exposure to retouch the raw input image respectively, thus delivering multiple retouched images under different exposures which are fused with exposure blending. The extensive experiments verify that our algorithms are superior to state-of-the-art methods in terms of quantitative accuracy and visual illustration.