# Continual BatchNorm Adaptation (CBNA) for Semantic Segmentation

arXiv: https://arxiv.org/abs/2203.01074 · HTML: https://mlsanity.com/paper/2203.01074/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Builds on 57 of its 79 references that are in the map.
- First posted on arXiv 2 Mar 2022.

## Builds on (most cited first, 30 of 57)

- [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)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [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)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Unsupervised Domain Adaptation by Backpropagation](https://mlsanity.com/paper/1409.7495/) (2014)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Do We Really Need to Access the Source Data? Source Hypothesis Transfer for Unsupervised Domain Adaptation](https://mlsanity.com/paper/2002.08546/) (2020)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Panoptic Segmentation](https://mlsanity.com/paper/1801.00868/) (2018)
- [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)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [FDA: Fourier Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/2004.05498/) (2020)
- [Domain Adaptive Faster R-CNN for Object Detection in the Wild](https://mlsanity.com/paper/1803.03243/) (2018)
- [Improving robustness against common corruptions by covariate shift adaptation](https://mlsanity.com/paper/2006.16971/) (2020)
- [Domain Generalization via Model-Agnostic Learning of Semantic Features](https://mlsanity.com/paper/1910.13580/) (2019)
- [Two at Once: Enhancing Learning and Generalization Capacities via IBN-Net](https://mlsanity.com/paper/1807.09441/) (2018)
- [Bidirectional Learning for Domain Adaptation of Semantic Segmentation](https://mlsanity.com/paper/1904.10620/) (2019)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [Revisiting Batch Normalization For Practical Domain Adaptation](https://mlsanity.com/paper/1603.04779/) (2016)
- [Domain Randomization and Pyramid Consistency: Simulation-to-Real Generalization without Accessing Target Domain Data](https://mlsanity.com/paper/1909.00889/) (2019)
- [Episodic Training for Domain Generalization](https://mlsanity.com/paper/1902.00113/) (2019)
- [FCNs in the Wild: Pixel-level Adversarial and Constraint-based Adaptation](https://mlsanity.com/paper/1612.02649/) (2016)

## Built on by (most cited first, 12 of 12)

- [A Comprehensive Survey on Test-Time Adaptation under Distribution Shifts](https://mlsanity.com/paper/2303.15361/) (2023)
- [Survey on Unsupervised Domain Adaptation for Semantic Segmentation for Visual Perception in Automated Driving](https://mlsanity.com/paper/2304.11928/) (2023)
- [Generalization by Adaptation: Diffusion-Based Domain Extension for Domain-Generalized Semantic Segmentation](https://mlsanity.com/paper/2312.01850/) (2023)
- [A Survey on Continual Semantic Segmentation: Theory, Challenge, Method and Application](https://mlsanity.com/paper/2310.14277/) (2023)
- [CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation](https://mlsanity.com/paper/2303.10147/) (2023)
- [Towards Source-free Domain Adaptive Semantic Segmentation via Importance-aware and Prototype-contrast Learning](https://mlsanity.com/paper/2306.01598/) (2023)
- [A Re-Parameterized Vision Transformer (ReVT) for Domain-Generalized Semantic Segmentation](https://mlsanity.com/paper/2308.13331/) (2023)
- [Bi-TTA: Bidirectional Test-Time Adapter for Remote Physiological Measurement](https://mlsanity.com/paper/2409.17316/) (2024)
- [Align the GAP: Prior-based Unified Multi-Task Remote Physiological Measurement Framework For Domain Generalization and Personalization](https://mlsanity.com/paper/2506.16160/) (2025)
- [Not Only Consistency: Enhance Test-Time Adaptation with Spatio-temporal Inconsistency for Remote Physiological Measurement](https://mlsanity.com/paper/2507.07908/) (2025)
- [Decoupling Continual Semantic Segmentation](https://mlsanity.com/paper/2508.05065/) (2025)
- [Robust Unsupervised Domain Adaptation by Retaining Confident Entropy via Edge Concatenation](https://mlsanity.com/paper/2310.07149/) (2023)

## Abstract (arXiv)

Environment perception in autonomous driving vehicles often heavily relies on deep neural networks (DNNs), which are subject to domain shifts, leading to a significantly decreased performance during DNN deployment. Usually, this problem is addressed by unsupervised domain adaptation (UDA) approaches trained either simultaneously on source and target domain datasets or even source-free only on target data in an offline fashion. In this work, we further expand a source-free UDA approach to a continual and therefore online-capable UDA on a single-image basis for semantic segmentation. Accordingly, our method only requires the pre-trained model from the supplier (trained in the source domain) and the current (unlabeled target domain) camera image. Our method Continual BatchNorm Adaptation (CBNA) modifies the source domain statistics in the batch normalization layers, using target domain images in an unsupervised fashion, which yields consistent performance improvements during inference. Thereby, in contrast to existing works, our approach can be applied to improve a DNN continuously on a single-image basis during deployment without access to source data, without algorithmic delay, and nearly without computational overhead. We show the consistent effectiveness of our method across a wide variety of source/target domain settings for semantic segmentation. Code is available at https://github.com/ifnspaml/CBNA.