Abstract
It is a challenging task to segment drivable area of road in automatic driving system. Convolutional neural network has excellent performance in road segmentation. However, the existing segmentation methods only focus on improving the performance of road segmentation under good road conditions, but pay little attention to the performance of road segmentation under severe weather conditions. In this paper, an image enhancement network (IEC-Net) based on CycleGAN is proposed to enhance the diversified features of input images. Firstly, an unsupervised CycleGAN network is trained to feature enhance road images under severe weather conditions, so as to obtain an enhanced image with rich feature information. Secondly, the enhanced image is input into the most advanced semantic segmentation network, so as to realize the segmentation of the drivable area of the road. The experimental results show that the IEC-Net based on CycleGAN can be directly combined with any advanced semantic segmentation network and can not only realize end-to-end training, but also greatly improve the performance of the original semantic segmentation network for road segmentation under severe weather conditions.
Similar content being viewed by others
References
Wang, R., Pan, F., An, Q., Diao, Q., Feng, X.: Aerial unstructured road segmentation based on deep convolution neural network. In: 2019 Chinese Control Conference (CCC), pp. 8494–8500 (2019). https://doi.org/10.23919/ChiCC.2019.8865464
Chen, B., Gong, C., Yang, J.: Importance-aware semantic segmentation for autonomous vehicles. IEEE Trans. Intell. Transp. Syst. 66, 1–12 (2018)
Dong, S., Chen, Z.: Block multi-dimensional attention for road segmentation in remote sensing imagery. IEEE Geosci. Remote Sens. Lett. 19, 6504505 (2022). https://doi.org/10.1109/LGRS.2021.3137551
Zhang, Y., Huang, Y.P., Guo, Z.Y., et al.: Point cloud-image data fusion for road segmentation. Opto-Electron. Eng. 48(12), 210–340 (2021). https://doi.org/10.12086/oee.2021.210340
Peng, J., Shen, J., Li, X.: High-order energies for stereo segmentation. IEEE Trans. Cybernet. 46(7), 1616–1627 (2016). https://doi.org/10.1109/TCYB.2015.2453091
Yang, F., Wang, H., Jin, Z.: Road segmentation model based on fusion via hierarchical conditional random field. Robot 40(6), 803–816 (2018)
Achanta, R., Shaji, A., Smith, K., Lucchi, A., Fua, P., Süsstrunk, S.: SLIC superpixels compared to state-of-the-art superpixel methods. IEEE Trans. Pattern Anal. Mach. Intell. 34(11), 2274–2282 (2012). https://doi.org/10.1109/TPAMI.2012.120
Reyes, A., Rincón, M.E.R., García, M.O.M., et al.: Robust image segmentation based on superpixels and Gauss–Markov measure fields. In: Mexican International Conference on Artificial Intelligence
Maurya, R., Gupta, P.R., Shukla, A.S.: Road extraction using K-means clustering and morphological operations. In: 2011 International Conference on Image Information Processing, pp. 1–6 (2011). https://doi.org/10.1109/ICIIP.2011.6108839
Tang, B., He, H.: ENN: Extended nearest neighbor method for pattern recognition [research frontier]. IEEE Comput. Intell. Mag. 10(3), 52–60 (2015)
Wang, Z., Song, R., Duan, P., et al.: EFNet: enhancement-fusion network for semantic segmentation. Pattern Recognit. 9, 108023 (2021)
López-Cifuentes, A., Escudero-Violo, M., Bescós, J., et al.: Semantic-aware scene recognition. Pattern Recognit. 102, 66 (2020)
Ren, S., He, K., Girshick, R., Sun, J.: Faster R-CNN: towards real-time object detection with region proposal networks. IEEE Trans. Pattern Anal. Machine Intell. 39(6), 1137–1149 (2017). https://doi.org/10.1109/TPAMI.2016.2577031
Li, X., Ye, M., Liu, Y., Zhu, C.: Adaptive deep convolutional neural networks for scene-specific object detection. IEEE Trans. Circuits Syst. Video Technol. 29(9), 2538–2551 (2019). https://doi.org/10.1109/TCSVT.2017.2749620
Liang, Y., Qin, G., Sun, M., et al.: MAFNet: multi-style attention fusion network for salient object detection. Neurocomputing 422(2), 22–33 (2021)
Ouyang, N., Zhu, T., Lin, L.: Convolutional neural network trained by joint loss for hyperspectral image classification. IEEE Geosci. Remote Sens. Lett. 16(3), 457–461 (2019). https://doi.org/10.1109/LGRS.2018.2872359
Lu, Q., Lu, J., Yu, D.: Gender classification based on the convolutional neural network. In: Proceeding of the 11th World Congress on Intelligent Control and Automation, pp. 1962–1965 (2014). https://doi.org/10.1109/WCICA.2014.7053021
He, K., Zhang, X., Ren, S., Sun, J.: Deep residual learning for image recognition. In: 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 770–778 (2016). https://doi.org/10.1109/CVPR.2016.90
Zhang, Y., Chen, H., He, Y., et al.: Road segmentation for all-day outdoor robot navigation. Neurocomputing 314, 316–325 (2018)
Bai, L., Lyu, Y., Huang, X.: RoadNet-RT: High Throughput CNN Architecture and SoC Design for Real-Time Road Segmentation (2020)
Abdollahi, A., Pradhan, B., Sharma, G., Maulud, K.N.A., Alamri, A.: Improving road semantic segmentation using generative adversarial network. IEEE Access 9, 64381–64392 (2021). https://doi.org/10.1109/ACCESS.2021.3075951
Li, Y., Guo, L., Rao, J., Xu, L., Jin, S.: Road segmentation based on hybrid convolutional network for high-resolution visible remote sensing image. IEEE Geosci. Remote Sens. Lett. 16(4), 613–617 (2019). https://doi.org/10.1109/LGRS.2018.2878771
Romera, E., Alvarez, J.M., Bergasa, L.M., et al.: ERFNet: efficient residual factorized ConvNet for real-time semantic segmentation. IEEE Trans. Intell. Transp. Syst. 66(1), 1–10 (2017)
Ronneberger, O., Fischer, P., Brox, T.: U-Net: convolutional networks for biomedical image segmentation. In: Navab, N., Hornegger, J., Wells, W., Frangi, A. (Eds.) Medical Image Computing and Computer-Assisted Intervention—MICCAI 2015. Lecture Notes in Computer Science, vol. 9351. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-24574-4_28
Chen, L.C., Zhu, Y., Papandreou, G., Schroff, F., Adam, H.: Encoder–decoder with atrous separable convolution for semantic image segmentation. In: Ferrari, V., Hebert, M., Sminchisescu, C., Weiss, Y. (Eds.) Computer Vision—ECCV 2018. Lecture Notes in Computer Science, vol. 11211. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-01234-2_49
Badrinarayanan, V., Kendall, A., Cipolla, R.: SegNet: a deep convolutional encoder–decoder architecture for image segmentation. IEEE Trans. Pattern Anal. Mach. Intell. 66, 1 (2017)
Simonyan, K., Zisserman, A.: Very deep convolutional networks for large-scale image recognition. Comput. Sci. 6, 66 (2014)
Krizhevsky, A., Sutskever, I., Hinton, G.: ImageNet classification with deep convolutional neural networks. Adv. Neural Inf. Process. Syst. 25(2), 66 (2012)
Zhao, H., Shi, J., Qi, X., Wang, X., Jia, J.: Pyramid scene parsing network. In: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 6230–6239 (2017). https://doi.org/10.1109/CVPR.2017.660.
Chen, L.C., Papandreou, G., Schroff, F., et al.: Rethinking Atrous Convolution for Semantic Image Segmentation (2017)
Cheng, M., Zhang, Y., Su, Y., Alvarez, J.M., Kong, H.: Curb detection for road and sidewalk detection. IEEE Trans. Veh. Technol. 67(11), 10330–10342 (2018). https://doi.org/10.1109/TVT.2018.2865836
Shen, J., Du, Y., Wang, W., Li, X.: Lazy random walks for superpixel segmentation. IEEE Trans. Image Process. 23(4), 1451–1462 (2014). https://doi.org/10.1109/TIP.2014.2302892
Wang, W., Shen, J.: Higher-order image co-segmentation. IEEE Trans. Multimedia 18(6), 1011–1021 (2016). https://doi.org/10.1109/TMM.2016.2545409
Shelhamer, E., Long, J., Darrell, T.: Fully convolutional networks for semantic segmentation. IEEE Trans. Pattern Anal. Mach. Intell. 39(4), 640–651 (2017). https://doi.org/10.1109/TPAMI.2016.2572683
Isola, P., Zhu, J., Zhou, T., Efros, A.A.: Image-to-image translation with conditional adversarial networks. In: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, pp. 5967–5976. https://doi.org/10.1109/CVPR.2017.632
Paszke, A., Chaurasia, A., Kim, S., Culurciello, E.: ENet: a deep neural network architecture for real-time semantic segmentation, arXiv:1606.02147 (2016)
Tan, X., Xiao, Z., Wan, Q., Shao, W.: Scale sensitive neural network for road segmentation in high-resolution remote sensing images. IEEE Geosci. Remote Sens. Lett. 18(3), 533–537 (2021). https://doi.org/10.1109/LGRS.2020.2976551
Zhu, J.Y., Park, T., Isola, P., Efros, A.A.: Unpaired image-to-image translation using cycle-consistent adversarial networks. In: Proceedings of the International Conference on Computer Vision, pp. 2242–2251 (2017)
Liu, M.-Y., Breuel, T., Kautz, J.: Unsupervised image-to-image translation networks. In: Proceedings of the Advances in Neural Information Processing Systems, pp. 700–708 (2017)
Shen, J., Du, Y., Wang, W., et al.: Lazy random walks for superpixel segmentation. IEEE Trans. Image Process. 23(4), 1451–1462 (2014)
Dong, X., Shen, J., Ling, S., et al.: Interactive co-segmentation using global and local energy optimization. IEEE Trans. Image Process. 24(11), 66 (2015)
Low, D.G.: Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 6, 66 (2004)
Zheng, S., Lu, J., Zhao, H., et al.: Rethinking Semantic Segmentation from a Sequence-to-Sequence Perspective with Transformers (2020)
Xie, E., Wang, W., Yu, Z., et al.: SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers (2021)
Zhang, J., Yang, K., Stiefelhagen, R.: ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-Based Data (2020)
Yang, K., Hu, X., Fang, Y., et al.: Omnisupervised omnidirectional semantic segmentation. IEEE Trans. Intell. Transp. Syst. 66(99), 1–16 (2020)
Kim, T., Cha, M., Kim, H., Lee, J., Kim, J.: Learning to discover cross-domain relations with generative adversarial networks. In: International Conference on Machine Learning, pp. 1857–1865 (2017)
Sun, L., Wang, K., Yang, K., et al.: See clearer at night: towards robust nighttime semantic segmentation through day-night image conversion (2019)
Romera, E., Bergasa, L.M., Yang, K., et al.: Bridging the day and night domain gap for semantic segmentation. In: 2019 IEEE Intelligent Vehicles Symposium (IV). IEEE (2019)
Uricar, M., Sistu, G., Rashed, H., et al.: Let's get dirty: GAN based data augmentation for camera lens soiling detection in autonomous driving. In: Workshop on Applications of Computer Vision. IEEE (2021)
Zhu, J., Park, T., Isola, P., Efros, A.A.: Unpaired image-to-image translation using cycle-consistent adversarial networks. In: 2017 IEEE International Conference on Computer Vision (ICCV), 2017, pp. 2242–2251. https://doi.org/10.1109/ICCV.2017.244
Long, J., Shelhamer, A., et al.: Fully convolutional networks for semantic segmentation. IEEE Trans. Pattern Anal. Mach. Intell. 6, 66 (2017)
Defferrard, M., Bresson, X., Vandergheynst, P.: Convolutional Neural Networks on Graphs with Fast Localized Spectral Filtering (2016)
Chen, L.-C., Papandreou, G., Kokkinos, I., Murphy, K., Yuille, A.L.: DeepLab: semantic image segmentation with deep convolutional nets, atrous convolution, and fully connected CRFs. IEEE Trans. Pattern Anal. Mach. Intell. 40(4), 834–848 (2018). https://doi.org/10.1109/TPAMI.2017.2699184
Yu, F., Koltun, V.: Multi-scale Context Aggregation by Dilated Convolutions (2016)
Howard, A.G., Zhu, M., Chen, B., et al.: MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications (2017)
Cordts, M., et al.: The cityscapes dataset for semantic urban scene understanding. In: 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3213–3223 (2016). https://doi.org/10.1109/CVPR.2016.350
Kingma, D., Ba, J.: Adam: a method for stochastic optimization. Comput. Sci. 6, 66 (2014)
Deng, J., Dong, W., Socher, R., Li, L.-J., Li, K., Fei-Fei, L.: Imagenet: a large—scale hierarchical image database. In: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 248–255, IEEE (2009)
He, K., Zhang, X., Ren, S., Sun, J.: Deep residual learning for image recognition. In: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 770–778 (2016)
Funding
This research was funded by the National Nature Science Foundation of China (grant number 62163005), Natural Science Foundation of Guangxi Province (grant number 2022GXNSFAA035633).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
All authors certify that they have no affiliations with or involvement in any organization or entity with any financial interest or non-financial interest in the subject matter or materials discussed in this manuscript.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Jiqing, C., Depeng, W., Teng, L. et al. All-weather road drivable area segmentation method based on CycleGAN. Vis Comput 39, 5135–5151 (2023). https://doi.org/10.1007/s00371-022-02650-8
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00371-022-02650-8