# Multi-source Pseudo-label Learning of Semantic Segmentation for the Scene Recognition of Agricultural Mobile Robots

arXiv: https://arxiv.org/abs/2102.06386 · HTML: https://mlsanity.com/paper/2102.06386/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 60 references that are in the map.
- First posted on arXiv 12 Feb 2021.

## Builds on (most cited first, 30 of 30)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Invariant Information Clustering for Unsupervised Image Classification and Segmentation](https://mlsanity.com/paper/1807.06653/) (2018)
- [Confidence Regularized Self-Training](https://mlsanity.com/paper/1908.09822/) (2019)
- [A Survey of Unsupervised Deep Domain Adaptation](https://mlsanity.com/paper/1812.02849/) (2018)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [Prototypical Pseudo Label Denoising and Target Structure Learning for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2101.10979/) (2021)
- [Rectifying Pseudo Label Learning via Uncertainty Estimation for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2003.03773/) (2020)
- [Asymmetric Tri-training for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1702.08400/) (2017)
- [ESPNet: Efficient Spatial Pyramid of Dilated Convolutions for Semantic Segmentation](https://mlsanity.com/paper/1803.06815/) (2018)
- [Learning Semantic Segmentation from Synthetic Data: A Geometrically Guided Input-Output Adaptation Approach](https://mlsanity.com/paper/1812.05040/) (2018)
- [Deep Cocktail Network: Multi-source Unsupervised Domain Adaptation with Category Shift](https://mlsanity.com/paper/1803.00830/) (2018)
- [A Review of Single-Source Deep Unsupervised Visual Domain Adaptation](https://mlsanity.com/paper/2009.00155/) (2020)
- [ESPNetv2: A Light-weight, Power Efficient, and General Purpose Convolutional Neural Network](https://mlsanity.com/paper/1811.11431/) (2018)
- [Multi-source Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/1910.12181/) (2019)
- [Unsupervised Learning of Image Segmentation Based on Differentiable Feature Clustering](https://mlsanity.com/paper/2007.09990/) (2020)
- [Unsupervised Scene Adaptation with Memory Regularization in vivo](https://mlsanity.com/paper/1912.11164/) (2019)
- [Multi-source Domain Adaptation in the Deep Learning Era: A Systematic Survey](https://mlsanity.com/paper/2002.12169/) (2020)

## Built on by (most cited first, 2 of 2)

- [Multi-Source Soft Pseudo-Label Learning with Domain Similarity-based Weighting for Semantic Segmentation](https://mlsanity.com/paper/2303.00979/) (2023)
- [DeepIPC: Deeply Integrated Perception and Control for an Autonomous Vehicle in Real Environments](https://mlsanity.com/paper/2207.09934/) (2022)

## Abstract (arXiv)

This paper describes a novel method of training a semantic segmentation model for scene recognition of agricultural mobile robots exploiting publicly available datasets of outdoor scenes that are different from the target greenhouse environments. Semantic segmentation models require abundant labels given by tedious manual annotation. A method to work around it is unsupervised domain adaptation (UDA) that transfers knowledge from labeled source datasets to unlabeled target datasets. However, the effectiveness of existing methods is not well studied in adaptation between heterogeneous environments, such as urban scenes and greenhouses. In this paper, we propose a method to train a semantic segmentation model for greenhouse images without manually labeled datasets of greenhouse images. The core of our idea is to use multiple rich image datasets of different environments with segmentation labels to generate pseudo-labels for the target images to effectively transfer the knowledge from multiple sources and realize a precise training of semantic segmentation. Along with the pseudo-label generation, we introduce state-of-the-art methods to deal with noise in the pseudo-labels to further improve the performance. We demonstrate in experiments with multiple greenhouse datasets that our proposed method improves the performance compared to the single-source baselines and an existing approach.