# GoodSAM++: Bridging Domain and Capacity Gaps via Segment Anything Model for Panoramic Semantic Segmentation

arXiv: https://arxiv.org/abs/2408.09115 · HTML: https://mlsanity.com/paper/2408.09115/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 62 references that are in the map.
- First posted on arXiv 17 Aug 2024.

## Builds on (most cited first, 30 of 38)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [FLAVA: A Foundational Language And Vision Alignment Model](https://mlsanity.com/paper/2112.04482/) (2021)
- [Medical SAM Adapter: Adapting Segment Anything Model for Medical Image Segmentation](https://mlsanity.com/paper/2304.12620/) (2023)
- [Joint 2D-3D-Semantic Data for Indoor Scene Understanding](https://mlsanity.com/paper/1702.01105/) (2017)
- [Knowledge Distillation and Student-Teacher Learning for Visual Intelligence: A Review and New Outlooks](https://mlsanity.com/paper/2004.05937/) (2020)
- [Track Anything: Segment Anything Meets Videos](https://mlsanity.com/paper/2304.11968/) (2023)
- [Inpaint Anything: Segment Anything Meets Image Inpainting](https://mlsanity.com/paper/2304.06790/) (2023)
- [Segment and Track Anything](https://mlsanity.com/paper/2305.06558/) (2023)
- [SAM3D: Segment Anything in 3D Scenes](https://mlsanity.com/paper/2306.03908/) (2023)
- [Curriculum Domain Adaptation for Semantic Segmentation of Urban Scenes](https://mlsanity.com/paper/1707.09465/) (2017)
- [Knowledge Adaptation for Efficient Semantic Segmentation](https://mlsanity.com/paper/1903.04688/) (2019)
- [Prototypical Cross-domain Self-supervised Learning for Few-shot Unsupervised Domain Adaptation](https://mlsanity.com/paper/2103.16765/) (2021)
- [Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentation](https://mlsanity.com/paper/2203.01452/) (2022)
- [3DSAM-adapter: Holistic adaptation of SAM from 2D to 3D for promptable tumor segmentation](https://mlsanity.com/paper/2306.13465/) (2023)
- [A Comprehensive Survey on Segment Anything Model for Vision and Beyond](https://mlsanity.com/paper/2305.08196/) (2023)
- [SAM.MD: Zero-shot medical image segmentation capabilities of the Segment Anything Model](https://mlsanity.com/paper/2304.05396/) (2023)
- [LVM-Med: Learning Large-Scale Self-Supervised Vision Models for Medical Imaging via Second-order Graph Matching](https://mlsanity.com/paper/2306.11925/) (2023)
- [Patch-Mix Transformer for Unsupervised Domain Adaptation: A Game Perspective](https://mlsanity.com/paper/2303.13434/) (2023)
- [Segment Anything Model (SAM) Enhanced Pseudo Labels for Weakly Supervised Semantic Segmentation](https://mlsanity.com/paper/2305.05803/) (2023)
- [Point-SAM: Promptable 3D Segmentation Model for Point Clouds](https://mlsanity.com/paper/2406.17741/) (2024)
- [Both Style and Distortion Matter: Dual-Path Unsupervised Domain Adaptation for Panoramic Semantic Segmentation](https://mlsanity.com/paper/2303.14360/) (2023)
- [Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentation](https://mlsanity.com/paper/2207.11860/) (2022)
- [Deep Learning for Omnidirectional Vision: A Survey and New Perspectives](https://mlsanity.com/paper/2205.10468/) (2022)
- [Look at the Neighbor: Distortion-aware Unsupervised Domain Adaptation for Panoramic Semantic Segmentation](https://mlsanity.com/paper/2308.05493/) (2023)
- [DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange](https://mlsanity.com/paper/2108.06383/) (2021)
- [Predicting Head Movement in Panoramic Video: A Deep Reinforcement Learning Approach](https://mlsanity.com/paper/1710.10755/) (2017)
- [Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation](https://mlsanity.com/paper/2110.11062/) (2021)
- [Semantics, Distortion, and Style Matter: Towards Source-free UDA for Panoramic Segmentation](https://mlsanity.com/paper/2403.12505/) (2024)
- [DeepPanoContext: Panoramic 3D Scene Understanding with Holistic Scene Context Graph and Relation-based Optimization](https://mlsanity.com/paper/2108.10743/) (2021)

## Built on by (most cited first, 11 of 11)

- [OmniSAM: Omnidirectional Segment Anything Model for UDA in Panoramic Semantic Segmentation](https://mlsanity.com/paper/2503.07098/) (2025)
- [Are Multimodal Large Language Models Ready for Omnidirectional Spatial Reasoning?](https://mlsanity.com/paper/2505.11907/) (2025)
- [Reducing Unimodal Bias in Multi-Modal Semantic Segmentation with Multi-Scale Functional Entropy Regularization](https://mlsanity.com/paper/2505.06635/) (2025)
- [Multi-source Domain Adaptation for Panoramic Semantic Segmentation](https://mlsanity.com/paper/2408.16469/) (2024)
- [PanoEnv: Exploring 3D Spatial Intelligence in Panoramic Environments with Reinforcement Learning](https://mlsanity.com/paper/2602.21992/) (2026)
- [Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots](https://mlsanity.com/paper/2603.13108/) (2026)
- [Unlocking Constraints: Source-Free Occlusion-Aware Seamless Segmentation](https://mlsanity.com/paper/2506.21198/) (2025)
- [Panoramic Out-of-Distribution Segmentation](https://mlsanity.com/paper/2505.03539/) (2025)
- [EventDance++: Language-guided Unsupervised Source-free Cross-modal Adaptation for Event-based Object Recognition](https://mlsanity.com/paper/2409.12778/) (2024)
- [Seeing Beyond: Extrapolative Domain Adaptive Panoramic Segmentation](https://mlsanity.com/paper/2603.15475/) (2026)
- [Panoramic Scene Understanding: A Survey from Distortion-Aware Engineering to Sphere-Native Modeling](https://mlsanity.com/paper/2606.27745/) (2026)

## Abstract (arXiv)

This paper presents GoodSAM++, a novel framework utilizing the powerful zero-shot instance segmentation capability of SAM (i.e., teacher) to learn a compact panoramic semantic segmentation model, i.e., student, without requiring any labeled data. GoodSAM++ addresses two critical challenges: 1) SAM's inability to provide semantic labels and inherent distortion problems of panoramic images; 2) the significant capacity disparity between SAM and the student. The `out-of-the-box' insight of GoodSAM++ is to introduce a teacher assistant (TA) to provide semantic information for SAM, integrated with SAM to obtain reliable pseudo semantic maps to bridge both domain and capacity gaps. To make this possible, we first propose a Distortion-Aware Rectification (DARv2) module to address the domain gap. It effectively mitigates the object deformation and distortion problem in panoramic images to obtain pseudo semantic maps. We then introduce a Multi-level Knowledge Adaptation (MKA) module to efficiently transfer the semantic information from the TA and pseudo semantic maps to our compact student model, addressing the significant capacity gap. We conduct extensive experiments on both outdoor and indoor benchmark datasets, showing that our GoodSAM++ achieves a remarkable performance improvement over the state-of-the-art (SOTA) domain adaptation methods. Moreover, diverse open-world scenarios demonstrate the generalization capacity of our GoodSAM++. Last but not least, our most lightweight student model achieves comparable performance to the SOTA models with only 3.7 million parameters.