HPL-ESS: Hybrid Pseudo-Labeling for Unsupervised Event-based Semantic Segmentation

Linglin Jing, Yiming Ding, Yunpeng Gao, Zhigang Wang, Xu Yan, Dong Wang, Gerald Schaefer, Hui Fang, Bin Zhao, Xuelong Li

科研成果: 期刊稿件会议文章同行评审

5 引用 (Scopus)

摘要

Event-based semantic segmentation has gained popularity due to its capability to deal with scenarios under high-speed motion and extreme lighting conditions, which cannot be addressed by conventional RGB cameras. Since it is hard to annotate event data, previous approaches rely on event-to-image reconstruction to obtain pseudo labels for training. However, this will inevitably introduce noise, and learning from noisy pseudo labels, especially when generated from a single source, may reinforce the errors. This drawback is also called confirmation bias in pseudo-labeling. In this paper, we propose a novel hybrid pseudo-labeling framework for unsupervised event-based semantic segmentation, HPL-ESS, to alleviate the influence of noisy pseudo labels. Specifically, we first employ a plain unsupervised domain adaptation framework as our baseline, which can generate a set of pseudo labels through self-training. Then, we incorporate offline event-to-image re-construction into the framework, and obtain another set of pseudo labels by predicting segmentation maps on the re-constructed images. A noisy label learning strategy is designed to mix the two sets of pseudo labels and enhance the quality. Moreover, we propose a soft prototypical alignment (SPA) module to further improve the consistency of target domain features. Extensive experiments show that the proposed method outperforms existing state-of-the-art methods by a large margin on benchmarks (e.g., +5.88% accuracy, +10.32% mIoU on DSEC-Semantic dataset), and even surpasses several supervised methods.

源语言英语
页(从-至)23128-23137
页数10
期刊Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
DOI
出版状态已出版 - 2024
活动2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2024 - Seattle, 美国
期限: 16 6月 202422 6月 2024

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