# Learning a Domain-Agnostic Visual Representation for Autonomous Driving via Contrastive Loss

arXiv: https://arxiv.org/abs/2103.05902 · HTML: https://mlsanity.com/paper/2103.05902/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 41 references that are in the map.
- First posted on arXiv 10 Mar 2021.

## Builds on (most cited first, 30 of 34)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Unsupervised Feature Learning via Non-Parametric Instance-level Discrimination](https://mlsanity.com/paper/1805.01978/) (2018)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Deep CORAL: Correlation Alignment for Deep Domain Adaptation](https://mlsanity.com/paper/1607.01719/) (2016)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Panoptic Segmentation](https://mlsanity.com/paper/1801.00868/) (2018)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networks](https://mlsanity.com/paper/1703.10593/) (2017)
- [Data-Efficient Image Recognition with Contrastive Predictive Coding](https://mlsanity.com/paper/1905.09272/) (2019)
- [Semantic Scene Completion from a Single Depth Image](https://mlsanity.com/paper/1611.08974/) (2016)
- [Virtual Worlds as Proxy for Multi-Object Tracking Analysis](https://mlsanity.com/paper/1605.06457/) (2016)
- [Learning to Discover Cross-Domain Relations with Generative Adversarial Networks](https://mlsanity.com/paper/1703.05192/) (2017)
- [Coupled Generative Adversarial Networks](https://mlsanity.com/paper/1606.07536/) (2016)
- [Unsupervised Cross-Domain Image Generation](https://mlsanity.com/paper/1611.02200/) (2016)
- [Augmented Reality Meets Computer Vision : Efficient Data Generation for Urban Driving Scenes](https://mlsanity.com/paper/1708.01566/) (2017)
- [CrDoCo: Pixel-level Domain Transfer with Cross-Domain Consistency](https://mlsanity.com/paper/2001.03182/) (2020)

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

- [Survey on Unsupervised Domain Adaptation for Semantic Segmentation for Visual Perception in Automated Driving](https://mlsanity.com/paper/2304.11928/) (2023)
- [Augmentation-based Domain Generalization for Semantic Segmentation](https://mlsanity.com/paper/2304.12122/) (2023)

## Abstract (arXiv)

Deep neural networks have been widely studied in autonomous driving applications such as semantic segmentation or depth estimation. However, training a neural network in a supervised manner requires a large amount of annotated labels which are expensive and time-consuming to collect. Recent studies leverage synthetic data collected from a virtual environment which are much easier to acquire and more accurate compared to data from the real world, but they usually suffer from poor generalization due to the inherent domain shift problem. In this paper, we propose a Domain-Agnostic Contrastive Learning (DACL) which is a two-stage unsupervised domain adaptation framework with cyclic adversarial training and contrastive loss. DACL leads the neural network to learn domain-agnostic representation to overcome performance degradation when there exists a difference between training and test data distribution. Our proposed approach achieves better performance in the monocular depth estimation task compared to previous state-of-the-art methods and also shows effectiveness in the semantic segmentation task.