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Semantic Scene Change Detection Network

This is an official implementation of "Correlated Siamese Change Detection Network (CSCDNet)" and "Silhouette-based Semantic Change Detection Network (SSCDNet)" in　"Weakly Supervised Silhouette-based Semantic Scene Change Detection" (ICRA2020). (SSCDNet and PSCD datast are preparing...)

Environments

This code was developed and tested with Python 3.6.8 and PyTorch 1.0 and CUDA 9.2.

• GCC

# Build and install GCC (>= 7.4.0) if not installed
# Set path variables
export PATH=/home/$USER/local/gcc/bin:$PATH  
export LD_LIBRARY_PATH=/home/$USER/local/gcc/lib64:$LD_LIBRARY_PATH  

• Virtualenv for system setting

# Set CUDA path. 
# In case of server, the following CUDA path setting with module load command might be necessary.
module load cuda/9.2/9.2.88.1  
 
# Create a virtualenv environment
virtualenv -p python /path/to/env/pytorch1.0cuda9.2 

#Activate the virtualenv environment
source /path/to/env/pytorch1.0cuda9.2/bin/activate

# Install dependencies
pip install -r requirements.txt

• Download the pretrained model of resnet18

sh download_resnet.sh

• Build correlation layer package from flownet2.

sh build_correlation_package.sh

Dataset

Please prepare the following format dataset using change detection datasets such as TSUNAMI. In the case of a large dataset, it is not necessary to split it.

Training

pcd_5cv        
   ├── set0/                       
   │   ├── train/             # *.jpg
   │   ├── test/              # *.jpg
   │   ├── mask/              # *.png
   |   ├── train.txt
   |   ├── test.txt
   ├── set1/                       
   ...   
   ├── set2/
   ...   
   ├── set3/
   ...
   ├── set4/                       
       ├── train/             # *.jpg
       ├── test/              # *.jpg
       ├── mask/              # *.png
       ├── train.txt
       ├── test.txt   

Testing

pcd                        
   ├── TSUNAMI/                       
      ├── t0/                # *.jpg
      ├── t1/                # *.jpg
      ├── mask/              # *.png

Training

Train change detection network with correlation layers (CSCDNet)

# i-th set of five-hold cross-validation  (0 <= i < 5)
python train.py  --cvset i --use-corr --datadir /path/to/pcd_5cv --checkpointdir /path/to/log --max-iteration 50000 --num-workers 16 --batch-size 32 --icount-plot 50 --icount-save 10000

Train change detection network without correlation layers (CDNet)

# i-th set of five-hold cross-validation  (0 <= i < 5)
python train.py  --cvset i --datadir /path/to/pcd_5cv --checkpointdir /path/to/log --max-iteration 50000 --num-workers 16 --batch-size 32 --icount-plot 50 --icount-save 10000

You can start a tensorboard session

tensorboard --logdir=/path/to/log 

Testing

CSCDNet

python test.py --use-corr --dataset PCD --datadir /path/to/pcd --checkpointdir /path/to/log/cscdnet/checkpoint

CDNet

python test.py --dataset PCD --datadir /path/to/pcd --checkpointdir /path/to/log/cdnet/checkpoint

Citation

If you find this implementation useful in your work, please cite the paper. Here is a BibTeX entry:

@article{sakurada2020weakly,
  title={Weakly Supervised Silhouette-based Semantic Scene Change Detection},
  author={Sakurada, Ken and Shibuya, Mikiya and Wang Weimin},
  journal={Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020}
}

The preprint can be found here.