Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation

Official code for the journal paper which builds on the code from the conference paper. The principal additions of this repo are:

Cross-modal semi-supervised domain adaptation (xMoSSDA)
New datasets: nuScenes-Lidarseg (instead of nuScenes), VirtualKitti

Paper

Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation
Maximilian Jaritz, Tuan-Hung Vu, Raoul de Charette, Émilie Wirbel, Patrick Pérez

If you find this code useful for your research, please cite our papers:

@inproceedings{jaritz2019xmuda,
	title={{xMUDA}: Cross-Modal Unsupervised Domain Adaptation for {3D} Semantic Segmentation},
	author={Jaritz, Maximilian and Vu, Tuan-Hung and de Charette, Raoul and Wirbel, Emilie and P{\'e}rez, Patrick},
	booktitle={CVPR},
	year={2020}
}
@inproceedings{jaritz2022cross,
	title={Cross-modal Learning for Domain Adaptation in {3D} Semantic Segmentation},
	author={Jaritz, Maximilian and Vu, Tuan-Hung and de Charette, Raoul and Wirbel, Emilie and P{\'e}rez, Patrick},
	booktitle={TPAMI},
	year={2022}
}

Preparation

Prerequisites

Tested with

PyTorch 1.4
CUDA 10.0
Python 3.8
SparseConvNet
nuscenes-devkit

Installation

As 3D network we use SparseConvNet. It requires to use CUDA 10.0 (it did not work with 10.1 when we tried). We advise to create a new conda environment for installation. PyTorch and CUDA can be installed, and SparseConvNet installed/compiled as follows:

$ conda install pytorch=1.4 torchvision cudatoolkit=10.0 -c pytorch
$ pip install --upgrade git+https://github.com/facebookresearch/SparseConvNet.git

Clone this repository and install it with pip. It will automatically install the nuscenes-devkit as a dependency.

$ git clone https://github.com/valeoai/xmuda.git
$ cd xmuda
$ pip install -ve .

The -e option means that you can edit the code on the fly.

Datasets

nuScenes-Lidarseg

Please download from the NuScenes website and extract:

Full dataset
nuScenes-lidarseg (All)

You need to perform preprocessing to generate the data for xMUDA first. The preprocessing subsamples the 360° LiDAR point cloud to only keep the points that project into the front camera image. All information will be stored in a pickle file (except the images which will be read on-the-fly by the dataloader during training).

Please edit the script xmuda/data/nuscenes_lidarseg/preprocess.py as follows and then run it.

root_dir should point to the root directory of the NuScenes dataset
out_dir should point to the desired output directory to store the pickle files

A2D2

Please download the Semantic Segmentation dataset and Sensor Configuration from the Audi website or directly use wget and the following links, then extract.

$ wget https://aev-autonomous-driving-dataset.s3.eu-central-1.amazonaws.com/camera_lidar_semantic.tar
$ wget https://aev-autonomous-driving-dataset.s3.eu-central-1.amazonaws.com/cams_lidars.json

The dataset directory should have this basic structure:

a2d2                                   % A2D2 dataset root
 ├── 20180807_145028
 ├── 20180810_142822
 ├── ...
 ├── cams_lidars.json
 └── class_list.json

For preprocessing, we undistort the images and store them separately as .png files. Similar to NuScenes preprocessing, we save all points that project into the front camera image as well as the segmentation labels to a pickle file.

Please edit the script xmuda/data/a2d2/preprocess.py as follows and then run it.

root_dir should point to the root directory of the A2D2 dataset
out_dir should point to the desired output directory to store the undistorted images and pickle files. It should be set differently than the root_dir to prevent overwriting of images.

SemanticKITTI

Please download the files from the SemanticKITTI website and additionally the color data from the Kitti Odometry website. Extract everything into the same folder.

Similar to NuScenes preprocessing, we save all points that project into the front camera image as well as the segmentation labels to a pickle file.

Please edit the script xmuda/data/semantic_kitti/preprocess.py as follows and then run it.

root_dir should point to the root directory of the SemanticKITTI dataset
out_dir should point to the desired output directory to store the pickle files

VirtualKITTI

Clone the following repo:

$ git clone https://github.com/VisualComputingInstitute/vkitti3D-dataset.git

Download raw data and extract with following script:

$ cd vkitti3D-dataset/tools
$ mkdir path/to/virtual_kitti
$ bash download_raw_vkitti.sh path/to/virtual_kitti

Generate point clouds (npy files):

$ cd vkitti3D-dataset/tools
$ for i in 0001 0002 0006 0018 0020; do python create_npy.py --root_path path/to/virtual_kitti --out_path path/to/virtual_kitti/vkitti_npy --sequence $i; done

Similar to NuScenes preprocessing, we save all points and segmentation labels to a pickle file.

Please edit the script xmuda/data/virtual_kitti/preprocess.py as follows and then run it.

root_dir should point to the root directory of the VirtualKITTI dataset
out_dir should point to the desired output directory to store the pickle files

UDA Experiments

xMUDA

You can run the training with

$ cd <root dir of this repo>
$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/xmuda.yaml

The output will be written to /home/<user>/workspace/outputs/xmuda_journal/<config_path> by default. The OUTPUT_DIR can be modified in the config file in (e.g. configs/nuscenes/usa_singapore/xmuda.yaml) or optionally at run time in the command line (dominates over config file). Note that @ in the following example will be automatically replaced with the config path, i.e. with nuscenes_lidarseg/usa_singapore/uda/xmuda.

$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/xmuda.yaml OUTPUT_DIR path/to/output/directory/@

You can start the trainings on the other UDA scenarios (Day/Night and A2D2/SemanticKITTI) analogously:

$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/day_night/uda/xmuda.yaml
$ python xmuda/train_xmuda.py --cfg=configs/a2d2_semantic_kitti/uda/xmuda.yaml
$ python xmuda/train_xmuda.py --cfg=configs/virtual_kitti_semantic_kitti/uda/xmuda.yaml

xMUDA_PL

After having trained the xMUDA model, generate the pseudo-labels as follows:

$ python xmuda/test.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/xmuda.yaml --pselab @/model_2d_100000.pth @/model_3d_100000.pth DATASET_TARGET.TEST "('train_singapore',)"

Note that we use the last model at 100,000 steps to exclude supervision from the validation set by picking the best weights. The pseudo labels and maximum probabilities are saved as .npy file.

Please edit the pselab_paths in the config file, e.g. configs/nuscenes_lidarseg/usa_singapore/uda/xmuda.yaml, to match your path of the generated pseudo-labels.

Then start the training. The pseudo-label refinement (discard less confident pseudo-labels) is done when the dataloader is initialized.

$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/xmuda_pl.yaml

You can start the trainings on the other UDA scenarios (Day/Night, A2D2/SemanticKITTI, VirtualKITTI/SemanticKITTI) analogously:

$ python xmuda/test.py --cfg=configs/nuscenes_lidarseg/day_night/uda/xmuda.yaml --pselab @/model_2d_100000.pth @/model_3d_100000.pth DATASET_TARGET.TEST "('train_night',)"
$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/day_night/uda/xmuda_pl.yaml

# use batch size 1, because of different image sizes in SemanticKITTI
$ python xmuda/test.py --cfg=configs/a2d2_semantic_kitti/uda/xmuda.yaml --pselab @/model_2d_100000.pth @/model_3d_100000.pth DATASET_TARGET.TEST "('train',)" VAL.BATCH_SIZE 1
$ python xmuda/train_xmuda.py --cfg=configs/a2d2_semantic_kitti/uda/xmuda_pl.yaml

# use batch size 1, because of different image sizes in SemanticKITTI
$ python xmuda/test.py --cfg=configs/virtual_kitti_semantic_kitti/uda/xmuda.yaml --pselab @/model_2d_030000.pth @/model_3d_030000.pth DATASET_TARGET.TEST "('train',)" VAL.BATCH_SIZE 1
$ python xmuda/train_xmuda.py --cfg=configs/nuscenes_lidarseg/day_night/uda/xmuda_pl.yaml

Baseline

Train the baselines (only on source) with:

$ python xmuda/train_baseline.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/baseline.yaml
$ python xmuda/train_baseline.py --cfg=configs/nuscenes_lidarseg/day_night/uda/baseline.yaml
$ python xmuda/train_baseline.py --cfg=configs/a2d2_semantic_kitti/uda/baseline.yaml
$ python xmuda/train_baseline.py --cfg=configs/virtual_kitti_semantic_kitti/uda/baseline.yaml

SSDA Experiments

We provide the experiments for the following SSDA scenarios:

nuSc-Lidarseg USA/Singapore (Table 3 in paper)
A2D2/Sem.KITTI (Table 3 in paper)
Virt.KITTI/Sem.KITTI (Table 11 in paper)

xMSSDA

$ python xmuda/train_xmssda.py --cfg=configs/nuscenes_lidarseg/usa_singapore/ssda/xmssda.yaml
$ python xmuda/train_xmssda.py --cfg=configs/a2d2_semantic_kitti/ssda/xmssda.yaml
$ python xmuda/train_xmssda.py --cfg=configs/virtual_kitti_semantic_kitti/ssda/xmssda.yaml

xMSSDA_PL

$ python xmuda/test.py --cfg=configs/nuscenes_lidarseg/usa_singapore/ssda/xmssda.yaml --pselab @/model_2d_100000.pth @/model_3d_100000.pth DATASET_TARGET.TEST "('train_singapore_unlabeled',)"
$ python xmuda/train_xmssda.py --cfg=configs/nuscenes_lidarseg/usa_singapore/ssda/xmssda_pl.yaml
$ python xmuda/test.py --cfg=configs/a2d2_semantic_kitti/ssda/xmssda.yaml --pselab @/model_2d_100000.pth @/model_3d_100000.pth DATASET_TARGET.TEST "('train_unlabeled',)" VAL.BATCH_SIZE 1
$ python xmuda/train_xmssda.py --cfg=configs/a2d2_semantic_kitti/ssda/xmssda_pl.yaml
$ python xmuda/test.py --cfg=configs/virtual_kitti_semantic_kitti/ssda/xmssda.yaml --pselab @/model_2d_030000.pth @/model_3d_030000.pth DATASET_TARGET.TEST "('train_unlabeled',)" VAL.BATCH_SIZE 1
$ python xmuda/train_xmssda.py --cfg=configs/virtual_kitti_semantic_kitti/ssda/xmssda_pl.yaml

Baseline

Non-UDA baseline, training on labeled target dataset only.

$ python xmuda/train_baseline.py --cfg=configs/nuscenes_lidarseg/usa_singapore/ssda/ssda_baseline_trg.yaml
$ python xmuda/train_baseline.py --cfg=configs/a2d2_semantic_kitti/ssda/ssda_baseline_trg.yaml
$ python xmuda/train_baseline.py --cfg=configs/virtual_kitti_semantic_kitti/ssda/ssda_baseline_trg.yaml

Non-UDA baseline, training on (labeled) source and labeled target.

$ python xmuda/train_baseline_src_trg.py --cfg=configs/nuscenes_lidarseg/usa_singapore/ssda/ssda_baseline_src_trg.yaml
$ python xmuda/train_baseline_src_trg.py --cfg=configs/a2d2_semantic_kitti/ssda/ssda_baseline_src_trg.yaml
$ python xmuda/train_baseline_src_trg.py --cfg=configs/virtual_kitti_semantic_kitti/ssda/ssda_baseline_src_trg.yaml

Testing

You can provide which checkpoints you want to use for testing. We used the ones that performed best on the validation set during training (the best val iteration for 2D and 3D is shown at the end of each training). Note that @ will be replaced by the output directory for that config file. For example:

$ cd <root dir of this repo>
$ python xmuda/test.py --cfg=configs/nuscenes_lidarseg/usa_singapore/uda/xmuda.yaml @/model_2d_065000.pth @/model_3d_095000.pth

Model Zoo

You can download some models with the scores below from this Google drive folder.

UDA

Method	nuSc-Lidarseg: USA/Singap. 2D	nuSc-Lidarseg: USA/Singap. 3D	nuSc-Lidarseg: Day/Night 2D	nuSc-Lidarseg: Day/Night 3D	Virt.KITTI/Sem.KITTI 2D	Virt.KITTI/Sem.KITTI 3D	A2D2/Sem.KITTI 2D	A2D2/Sem.KITTI 3D
Baseline (source only)	58.38	62.76	47.83	68.77	26.80	42.0	34.16	35.86
xMUDA	64.39	63.18	55.54	69.16	42.10	46.69	38.26	45.98
xMUDA_PL	67.02	65.40	57.60	69.55	45.78	51.38	41.22	49.78

SSDA

Method	nuSc-Lidarseg: USA/Singap. 2D	nuSc-Lidarseg: USA/Singap. 3D	A2D2/Sem.KITTI 2D	A2D2/Sem.KITTI 3D
xMoSSDA	74.33	74.08	56.50	63.35
xMoSSDA_PL	75.47	74.80	59.13	68.15

License

xMUDA and xMoSSDA are released under the Apache 2.0 license.

Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
configs		configs
xmuda		xmuda
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
setup.py		setup.py
teaser.png		teaser.png

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Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation

Paper

Preparation

Prerequisites

Installation

Datasets

nuScenes-Lidarseg

A2D2

SemanticKITTI

VirtualKITTI

UDA Experiments

xMUDA

xMUDA_PL

Baseline

SSDA Experiments

xMSSDA

xMSSDA_PL

Baseline

Testing

Model Zoo

UDA

SSDA

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Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation

Paper

Preparation

Prerequisites

Installation

Datasets

nuScenes-Lidarseg

A2D2

SemanticKITTI

VirtualKITTI

UDA Experiments

xMUDA

xMUDAPL

Baseline

SSDA Experiments

xMSSDA

xMSSDAPL

Baseline

Testing

Model Zoo

UDA

SSDA

License

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xMUDA_PL

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