# Task-Oriented Pre-Training for Drivable Area Detection

arXiv: https://arxiv.org/abs/2409.20166 · HTML: https://mlsanity.com/paper/2409.20166/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 40 references that are in the map.
- First posted on arXiv 30 Sep 2024.

## Builds on (most cited first, 25 of 25)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [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)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Visualizing and Understanding Convolutional Networks](https://mlsanity.com/paper/1311.2901/) (2013)
- [ImageNet-21K Pretraining for the Masses](https://mlsanity.com/paper/2104.10972/) (2021)
- [Object Detection in 20 Years: A Survey](https://mlsanity.com/paper/1905.05055/) (2019)
- [Rethinking ImageNet Pre-training](https://mlsanity.com/paper/1811.08883/) (2018)
- [VM-UNet: Vision Mamba UNet for Medical Image Segmentation](https://mlsanity.com/paper/2402.02491/) (2024)
- [LViT: Language meets Vision Transformer in Medical Image Segmentation](https://mlsanity.com/paper/2206.14718/) (2022)
- [Foundational Models Defining a New Era in Vision: A Survey and Outlook](https://mlsanity.com/paper/2307.13721/) (2023)
- [Designing BERT for Convolutional Networks: Sparse and Hierarchical Masked Modeling](https://mlsanity.com/paper/2301.03580/) (2023)
- [SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection](https://mlsanity.com/paper/2008.11351/) (2020)
- [Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud](https://mlsanity.com/paper/2207.11919/) (2022)
- [Progressive LiDAR Adaptation for Road Detection](https://mlsanity.com/paper/1904.01206/) (2019)
- [ORFD: A Dataset and Benchmark for Off-Road Freespace Detection](https://mlsanity.com/paper/2206.09907/) (2022)
- [Fast Road Segmentation via Uncertainty-aware Symmetric Network](https://mlsanity.com/paper/2203.04537/) (2022)
- [Multi-Modal Multi-Task (3MT) Road Segmentation](https://mlsanity.com/paper/2308.11983/) (2023)

## Built on by (most cited first, 1 of 1)

- [Road Segmentation for ADAS/AD Applications](https://mlsanity.com/paper/2505.12206/) (2025)

## Abstract (arXiv)

Pre-training techniques play a crucial role in deep learning, enhancing models' performance across a variety of tasks. By initially training on large datasets and subsequently fine-tuning on task-specific data, pre-training provides a solid foundation for models, improving generalization abilities and accelerating convergence rates. This approach has seen significant success in the fields of natural language processing and computer vision. However, traditional pre-training methods necessitate large datasets and substantial computational resources, and they can only learn shared features through prolonged training and struggle to capture deeper, task-specific features. In this paper, we propose a task-oriented pre-training method that begins with generating redundant segmentation proposals using the Segment Anything (SAM) model. We then introduce a Specific Category Enhancement Fine-tuning (SCEF) strategy for fine-tuning the Contrastive Language-Image Pre-training (CLIP) model to select proposals most closely related to the drivable area from those generated by SAM. This approach can generate a lot of coarse training data for pre-training models, which are further fine-tuned using manually annotated data, thereby improving model's performance. Comprehensive experiments conducted on the KITTI road dataset demonstrate that our task-oriented pre-training method achieves an all-around performance improvement compared to models without pre-training. Moreover, our pre-training method not only surpasses traditional pre-training approach but also achieves the best performance compared to state-of-the-art self-training methods.