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Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentation

This is the code related to "Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentation" (ICCV 2021).

1. Paper

Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentation
IEEE International Conference on Computer Vision (ICCV 2021)

If you find it helpful to your research, please cite as follows:

@inproceedings{peng2021sparse,
  title={Sparse-to-dense Feature Matching: Intra and Inter domain Cross-modal Learning in Domain Adaptation for 3D Semantic Segmentation},
  author={Peng, Duo and Lei, Yinjie and Li, Wen and Zhang, Pingping and Guo, Yulan},
  booktitle={Proceedings of the International Conference on Computer Vision (ICCV)},
  year={2021},
  publisher={IEEE}
}

2. Preparation

• PyTorch 1.7.1
• CUDA 11.1
• Python 3.7.9
• Torchvision 0.8.2
• SparseConvNet
• nuscenes-devkit

You can follow the next steps to install the requairmented environment. This code is mainly modified from xMUDA, you can also refer to its README if the installation isn't going well.

2.1 Setup a Conda environment:

First, you are recommended to create a new Conda environment named nuscenes.

conda create --name nuscenes python=3.7

You can enable the virtual environment using:

conda activate nuscenes 

To deactivate the virtual environment, use:

source deactivate

2.2 Install nuscenes-devkit:

Download the devkit to your computer, decompress and enter it.

Add the python-sdk directory to your PYTHONPATH environmental variable, by adding the following to your ~/.bashrc:

export PYTHONPATH="${PYTHONPATH}:$HOME/nuscenes-devkit/python-sdk"

Using cmd (make sure the environment "nuscenes" is activated) to install the base environment:

pip install -r setup/requirements.txt

Setup environment variable:

export NUSCENES="/data/sets/nuscenes"

Using the cmd to finally install it:

pip install nuscenes-devkit

After the above steps, the devikit is installed, for any question you can refer to devikit_installation_help

If you meet the error with "pycocotools", you can try following steps:

(1) Install Cython in your environment:

sudo apt-get installl Cython

pip install cython

(2) Download the cocoapi to your computer, decompress and enter it.

(3) Using cmd to enter the path under "PythonAPI", type:

make

(4) Type:

pip install pycocotools

2.3 Install SparseConveNet:

Download the SparseConveNet to your computer, decompress, enter and develop it:

cd SparseConvNet/
bash develop.sh

3. Datasets Preparation

For Dataset preprocessing, the code and steps are highly borrowed from xMUDA, you can see more preprocessing details from this Link. We summarize the preprocessing as follows:

3.1 NuScenes

Download Nuscenes from NuScenes website and extract it.

Before training, you need to perform preprocessing to generate the data first. Please edit the script DsCML/data/nuscenes/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

3.2 A2D2

Download the A2D2 Semantic Segmentation dataset and Sensor Configuration from the Audi website

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

Please edit the script DsCML/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.

3.3 SemanticKITTI

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

Please edit the script DsCML/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

4. Usage

You can training the DsCML by using cmd or IDE such as Pycharm.

python DsCML/train_DsCML.py --cfg=../configs/nuscenes/day_night/xmuda.yaml

The output will be written to /home/<user>/workspace by default. You can change the path OUTPUT_DIR in the config file in (e.g. configs/nuscenes/day_night/xmuda.yaml)

You can start the trainings on the other UDA scenarios (USA/Singapore and A2D2/SemanticKITTI):

python DsCML/train_DsCML.py --cfg=../configs/nuscenes/usa_singapore/xmuda.yaml
python DsCML/train_DsCML.py --cfg=../configs/a2d2_semantic_kitti/xmuda.yaml

5. Results

We present several qualitative results reported in our paper.

Update Status

The code of CMAL is updated. (2021-10-04)