Domain adaptation for semantic segmentation of road scenes via two-stage alignment of traffic elements

Unsupervised domain adaptation has been used to reduce the domain shift, which would improve the performance of semantic segmentation on unlabeled real-world data. However, existing methodologies fall short in effectively addressing the domain shift issue prevalent in traffic scenarios, leading to less than satisfactory segmentation results. In this paper, we propose a novel domain adaptation method for semantic segmentation via unsupervised alignment of traffic elements. Firstly, we introduce a two-stage self-training framework that leverages a blended set of training samples to enhance the training process. In the first stage, we leverage generated mixup training samples as inputs within our two-stage self-training framework and have developed corresponding loss functions for both the source and target domains to direct the training process. Then, the alignment modules for dynamic and static traffic elements are designed to achieve accurate matching between the source and the target domain images. The cosine similarity maximization is applied to the alignment of dynamic traffic elements, while the prototype learning is utilized for the static traffic elements. Additionally, we present a new technique for reducing noise in pseudo labels by constructing thresholds that adjust to each class. Meanwhile, we formulate the associated target domain loss function for vacant pseudo label pixels. The experimental results demonstrate that the proposed method is superior to the existing methods on five different domain adaptation tasks, which is more applicable to semantic segmentation of road scenes.