Unsupervised BatchNorm Adaptation (UBNA): A Domain Adaptation Method for Semantic Segmentation Without Using Source Domain Representations
Marvin Klingner, Jan-Aike Termöhlen, Jacob Ritterbach, and Tim Fingscheidt
Citation
If you find our work useful or interesting, please consider citing our paper:
@article{klingner2020unsupervised,
title = {{Unsupervised BatchNorm Adaptation (UBNA): A Domain Adaptation Method for Semantic Segmentation Without Using Source Domain Representations}},
author = {Marvin Klingner and
Jan-Aike Term\"{o}hlen and
Jacob Ritterbach and
Tim Fingscheidt
},
year = {2020}
archivePrefix = {arXiv},
eprint = {2011.08502},
}
Getting Started
To run our code you need to go through the following steps:
-
Start a fresh conda environment and install the necessary packages as follows:
conda install pytorch=1.6 torchvision cudatoolkit=10.2 -c pytorch
pip install tensorboardX
pip install opencv-contrib-python
conda install -c conda-forge python-wget
(just necessary for kitti download script)
-
Create a dataset folder where all the used datasets will be stored. Specify the environment variables
UBNA_DIR_DATASET
andUBNA_DIR_CHECKPOINT
, leading to the paths of this dataset folder and the folder where the checkpoints are to be saved. Depending on your operating system, this can be done as follows:- Windows:
setx UBNA_DIR_DATASET <PATH_TO_DATASET> setx UBNA_DIR_CHECKPOINT <PATH_TO_CHECKPOINTS>
- Linux:
export UBNA_DIR_DATASET=<PATH_TO_DATASET> export UBNA_DIR_CHECKPOINT=<PATH_TO_CHECKPOINTS>
- Windows:
-
To download the datasets, you can use the following steps. Note that you do not necessarily need all datasets for all experiments (e.g. for GTA to Cityscapes you only need gta-5 and Cityscapes and Cityscapes sequence datasets), but if you download all datasets mentioned here, you should be able to run all experiments described in the paper:
- Cityscapes: Create a folder called
cityscapes
in your dataset folder. Go to https://www.cityscapes-dataset.com/downloads/, log in, download and unpack the following dataset parts into that folder:- leftImg8bit_trainvaltest.zip
- gtFine_trainvaltest.zip
- Cityscapes (sequences): Create a folder called
cityscapes_sequence
in your dataset folder. Go to https://www.cityscapes-dataset.com/downloads/, log in, download and unpack the following dataset parts into that folder:- leftImg8bit_sequence_trainvaltest.zip
- SYNTHIA: Download the SYNTHIA dataset (SYNTHIA-RAND-CITYSCAPES) from https://synthia-dataset.net/downloads/ and rename the folder to
synthia
afterwards. Run the script indata_download/convert_segmentation_synthia.py
to convert the labels to a nicer format. - GTA-5: Download all parts of the GTA-5 dataset from https://download.visinf.tu-darmstadt.de/data/from_games/. Put all color images in a subfolder
images
and all labels in a subfolderlabels
. Rename the main folder togta5
afterwards. - GTA-5 (full split): Create an empty folder called
gta5_full_split
. It will be used later to store the split information for the GTA-5 dataset. - KITTI: You can use the script
download_kitti.py
in thedata_download
folder. It will automatically create a folder calledkitti_download
and download all necessary parts of the KITTI dataset. Please rename the folder tokitti
afterwards. - KITTI (kitti split): Create an empty folder called
kitti_kitti_split
. It will be used later to store the split information for the KITTI dataset. - KITTI 2015:
- Create a folder called
kitti_2015
. Download thestereo_2015/flow_2015/scene_flow_2015
dataset from http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php into that folder. - Download the labels from http://www.cvlibs.net/datasets/kitti/eval_semseg.php?benchmark=semantics2015 and place them in the respective folders in the
kitti_2015
directory.
- Create a folder called
- Cityscapes: Create a folder called
-
Download the .json files from the following download links and place them in the dataset folders.
- Cityscapes: https://drive.google.com/drive/folders/1E9RdGX-uAtrU1p_OLjOrVI4tKBdZwg6W?usp=sharing
- Cityscapes (sequences): https://drive.google.com/drive/folders/1EKGfzjotMc8_R42nHaMmwIfyyv0W4Q42?usp=sharing
- SYNTHIA: https://drive.google.com/drive/folders/11tzLxx7DvD0xrAyDpHpXIUGC62Xs14jI?usp=sharing
- GTA-5: https://drive.google.com/drive/folders/1uv4iaOiJ0fbZOHcrTcmFLqje5WdXazPR?usp=sharing
- GTA-5 (full split): https://drive.google.com/drive/folders/18t4Alb8jhk8Y7BqbxAAK9k8-Yqx1wxBE?usp=sharing
- KITTI : https://drive.google.com/drive/folders/1i2n5SmKWmst0CenxUznUHZ0oxJzlBfS9?usp=sharing
- KITTI (kitti split): https://drive.google.com/drive/folders/14ymxqZD1VeH1lBUbX6YwfivBI_mo2a0h?usp=sharing
- KITTI 2015: https://drive.google.com/drive/folders/1ru77CfONBDwGmU0jwZnFUgrG8e9j6hEp?usp=sharing
The resulting folder structure should look as follows.
. ├── cityscapes │ ├── gtFine │ ├── leftImg8bit │ ├── basic_files.json │ ├── parameters.json │ ├── train.json │ ├── validation.json │ └── test.json │ ├── cityscapes_sequence │ ├── leftImg8bit_sequence │ ├── basic_files.json │ ├── parameters.json │ ├── train.json │ ├── validation.json │ └── test.json │ ├── synthia │ ├── RAND_CITYSCAPES │ ├── basic_files.json │ ├── parameters.json │ └── train.json │ ├── gta5 │ ├── images │ ├── labels │ ├── basic_files.json │ └── parameters.json │ |── gta5_full_split | └── train.json | ├── kitti │ ├── Raw_data │ ├── basic_files.json │ └── parameters.json │ │── kitti_kitti_split │ ├── test.json │ ├── train.json │ └── validation.json │ └── kitti_2015 ├── training ├── testing ├── basic_files.json ├── parameters.json ├── test.json ├── train.json └── validation.json
Pretraining of the Semantic Segmentation Network
With this code example we demonstrate the adaptation from GTA-5 to Cityscapes as described in our paper. The commands for the other settings can be found in the experiments
folder. The precedure, however, remains the same for all settings.
For pretraining the semantic segmentation network, there is a train.py
provided. There are different options available. For a full list see arguments.py
. Our pretraining procedure is given by the following command and involves using only the weighted cross-entropy loss as described in the paper.
python3 train.py \
--model-name ubna_pretrained_seg_gta_vgg16 \
--model-type "vgg" \
--model-num-layers-vgg 16 \
--segmentation-training-loaders "gta5_train" \
--segmentation-training-batch-size 12 \
--experiment-class "ubna_pretrained_models"
You can of course also simply run the pretrain.sh
shell script located in the experiments/gta_to_cs/
directory.
The pretrained model will be saved in the folder ubna_pretrained_models
within the directory you specified before with the environment variable UBNA_DIR_CHECKPOINT
.
Download the pretrained baseline
Adaptation of the Network to the New Domain
For adaption of the network to the new domain using our UBNA-method, you can choose between the two approaches we introduced in our paper:
1) Batch-wise decaying BN-momentum (UBNA)
To adapt the network with batch-wise decaying BN-momentum (i.e., BN momentum is shrinking in dependency on the number of batches alreday used for adaptation), you may run the adapt_ubna.sh
shell script in experiments/gta_to_cs
, which you can find within the experiments directory. Our used setup is given by the command:
python3 adapt.py \
--model-name ubna_adaption_gta_to_cs_vgg16_BS6_alpha_batch=0.08_alpha_layer=0 \
--adaptation-training-loaders "cityscapes_sequence_train" \
--adaptation-resize-width 1024 \
--adaptation-resize-height 512 \
--adaptation-training-batch-size 6 \
--model-type "vgg" \
--model-num-layers-vgg 16 \
--model-load ubna_pretrained_models/ubna_pretrained_seg_gta_vgg16/checkpoints/epoch_20 \
--model-disable-lr-loading \
--experiment-class "ubna_adapted_models" \
--adaptation-alpha-batch 0.08 \
--adaptation-mode-sequential "batch_shrinking" \
--adaptation-num-batches 50
Make sure that the model.pth
file of the pretrained model is located in the folder ubna_pretrained_models/ubna_pretrained_seg_gta_vgg16/checkpoints/epoch_20
specified in the model-load
argument.
2) Additional layer-wise decaying BN-momentum (UBNA+)
For adapting the Network with an additional layer-wise decaying weighting factor, that is shrinking in dependency on the number of trained batches and additionally is set individually for each BN layer, run the shell script adapt_ubna_plus.sh
, which you can find within the experiments/gta_to_cs
directory. Our used setup is given by the command:
python3 adapt.py \
--model-name ubna_adaption_gta_to_cs_vgg16_BS6_alpha_batch=0.08_alpha_layer=0.03 \
--adaptation-training-loaders "cityscapes_sequence_train" \
--adaptation-resize-width 1024 \
--adaptation-resize-height 512 \
--adaptation-training-batch-size 6 \
--model-type "vgg" \
--model-num-layers-vgg 16 \
--model-load ubna_pretrained_models/ubna_pretrained_seg_gta_vgg16/checkpoints/epoch_20 \
--model-disable-lr-loading \
--experiment-class "ubna_adapted_models" \
--adaptation-alpha-batch 0.08 \
--adaptation-alpha-layer 0.03 \
--adaptation-mode-sequential "layer_shrinking" \
--adaptation-num-batches 50
In both cases, you can choose the number of adaptation steps using the argument adaptation-num-batches
.
After adaption, the model will be saved in the directory ubna_adapted_models
within the directory you specified before with the environment variable UBNA_DIR_CHECKPOINT
.
Evaluation of the Network
For evaluation of the network, run the evaluate.sh
shell script, which you can find within the experiments directory.
Make sure that the correct path to the model files is specified in the parameter model_load
as given in the below examples.
Also note that the paths are defined relative to the UBNA_DIR_DATASET
directory.
python3 eval_segmentation.py \
--sys-best-effort-determinism \
--model-type "vgg" \
--model-name "eval_cs" \
--model-load ubna_adapted_models/ubna_adaption_cs_to_kitti_vgg16_BS6_alpha_batch=0.08_alpha_layer=0.3/checkpoints/batch_50 \
--segmentation-validation-loaders "cityscapes_validation"
Pre-Trained Models
Our provided models should meet the marks provided in the paper which you should be able to reproduce (up to a small margin, as the PyTorch framework is not deterministic during training):
Model | Cityscapes to KITTI | SYNTHIA to Cityscapes | GTA-5 to Cityscapes |
---|---|---|---|
Baseline | Download | Download | Download |
UBNA | Download | Download | Download |
UBNA+ | Download | Download | Download |
There is a small "Download" button at the top right
License
This code is licensed under the MIT-License feel free to use it within the boundaries of this license.