# Improving Online Performance Prediction for Semantic Segmentation

arXiv: https://arxiv.org/abs/2104.05255 · HTML: https://mlsanity.com/paper/2104.05255/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 50 of its 68 references that are in the map.
- First posted on arXiv 12 Apr 2021.

## Builds on (most cited first, 30 of 50)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [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)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [Xception: Deep Learning with Depthwise Separable Convolutions](https://mlsanity.com/paper/1610.02357/) (2016)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics](https://mlsanity.com/paper/1705.07115/) (2017)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Multi-Scale Context Aggregation by Dilated Convolutions](https://mlsanity.com/paper/1511.07122/) (2015)
- [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)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [Semantic Image Segmentation with Deep Convolutional Nets and Fully Connected CRFs](https://mlsanity.com/paper/1412.7062/) (2014)
- [Using Self-Supervised Learning Can Improve Model Robustness and Uncertainty](https://mlsanity.com/paper/1906.12340/) (2019)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [Virtual Worlds as Proxy for Multi-Object Tracking Analysis](https://mlsanity.com/paper/1605.06457/) (2016)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [PAD-Net: Multi-Tasks Guided Prediction-and-Distillation Network for Simultaneous Depth Estimation and Scene Parsing](https://mlsanity.com/paper/1805.04409/) (2018)
- [Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos](https://mlsanity.com/paper/1811.06152/) (2018)
- [Learning Texture Invariant Representation for Domain Adaptation of Semantic Segmentation](https://mlsanity.com/paper/2003.00867/) (2020)
- [Self-Supervised Monocular Depth Estimation: Solving the Dynamic Object Problem by Semantic Guidance](https://mlsanity.com/paper/2007.06936/) (2020)
- [Pattern-Affinitive Propagation across Depth, Surface Normal and Semantic Segmentation](https://mlsanity.com/paper/1906.03525/) (2019)

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

- [Exposing Text-Image Inconsistency Using Diffusion Models](https://mlsanity.com/paper/2404.18033/) (2024)
- [LanePerf: a Performance Estimation Framework for Lane Detection](https://mlsanity.com/paper/2507.12894/) (2025)

## Abstract (arXiv)

In this work we address the task of observing the performance of a semantic segmentation deep neural network (DNN) during online operation, i.e., during inference, which is of high importance in safety-critical applications such as autonomous driving. Here, many high-level decisions rely on such DNNs, which are usually evaluated offline, while their performance in online operation remains unknown. To solve this problem, we propose an improved online performance prediction scheme, building on a recently proposed concept of predicting the primary semantic segmentation task's performance. This can be achieved by evaluating the auxiliary task of monocular depth estimation with a measurement supplied by a LiDAR sensor and a subsequent regression to the semantic segmentation performance. In particular, we propose (i) sequential training methods for both tasks in a multi-task training setup, (ii) to share the encoder as well as parts of the decoder between both task's networks for improved efficiency, and (iii) a temporal statistics aggregation method, which significantly reduces the performance prediction error at the cost of a small algorithmic latency. Evaluation on the KITTI dataset shows that all three aspects improve the performance prediction compared to previous approaches.