# MaskAdapt: Unsupervised Geometry-Aware Domain Adaptation Using Multimodal Contextual Learning and RGB-Depth Masking

arXiv: https://arxiv.org/abs/2505.24026 · HTML: https://mlsanity.com/paper/2505.24026/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 66 references that are in the map.
- First posted on arXiv 29 May 2025.

## Builds on (most cited first, 30 of 42)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [ImageNet-trained CNNs are biased towards texture; increasing shape bias improves accuracy and robustness](https://mlsanity.com/paper/1811.12231/) (2018)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Deep Hashing Network for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1706.07522/) (2017)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networks](https://mlsanity.com/paper/1703.10593/) (2017)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Masked Feature Prediction for Self-Supervised Visual Pre-Training](https://mlsanity.com/paper/2112.09133/) (2021)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [Unifying Flow, Stereo and Depth Estimation](https://mlsanity.com/paper/2211.05783/) (2022)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [DACS: Domain Adaptation via Cross-domain Mixed Sampling](https://mlsanity.com/paper/2007.08702/) (2020)
- [PeCo: Perceptual Codebook for BERT Pre-training of Vision Transformers](https://mlsanity.com/paper/2111.12710/) (2021)
- [MIC: Masked Image Consistency for Context-Enhanced Domain Adaptation](https://mlsanity.com/paper/2212.01322/) (2022)
- [Understanding Convolution for Semantic Segmentation](https://mlsanity.com/paper/1702.08502/) (2017)
- [HRDA: Context-Aware High-Resolution Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2204.13132/) (2022)
- [Category Anchor-Guided Unsupervised Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/1910.13049/) (2019)
- [Correlation Alignment for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1612.01939/) (2016)
- [Pattern-Affinitive Propagation across Depth, Surface Normal and Semantic Segmentation](https://mlsanity.com/paper/1906.03525/) (2019)
- [Classes Matter: A Fine-grained Adversarial Approach to Cross-domain Semantic Segmentation](https://mlsanity.com/paper/2007.09222/) (2020)
- [Transferrable Prototypical Networks for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1904.11227/) (2019)
- [Semantic Segmentation with Generative Models: Semi-Supervised Learning and Strong Out-of-Domain Generalization](https://mlsanity.com/paper/2104.05833/) (2021)
- [Progressive Domain Adaptation for Object Detection](https://mlsanity.com/paper/1910.11319/) (2019)
- [Self-Ensembling with GAN-based Data Augmentation for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1909.00589/) (2019)
- [3D Sketch-aware Semantic Scene Completion via Semi-supervised Structure Prior](https://mlsanity.com/paper/2003.14052/) (2020)

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

- [Segmenting Visuals With Querying Words: Language Anchors For Semi-Supervised Image Segmentation](https://mlsanity.com/paper/2506.13925/) (2025)

## Abstract (arXiv)

Semantic segmentation of crops and weeds is crucial for site-specific farm management; however, most existing methods depend on labor intensive pixel-level annotations. A further challenge arises when models trained on one field (source domain) fail to generalize to new fields (target domain) due to domain shifts, such as variations in lighting, camera setups, soil composition, and crop growth stages. Unsupervised Domain Adaptation (UDA) addresses this by enabling adaptation without target-domain labels, but current UDA methods struggle with occlusions and visual blending between crops and weeds, leading to misclassifications in real-world conditions. To overcome these limitations, we introduce MaskAdapt, a novel approach that enhances segmentation accuracy through multimodal contextual learning by integrating RGB images with features derived from depth data. By computing depth gradients from depth maps, our method captures spatial transitions that help resolve texture ambiguities. These gradients, through a cross-attention mechanism, refines RGB feature representations, resulting in sharper boundary delineation. In addition, we propose a geometry-aware masking strategy that applies horizontal, vertical, and stochastic masks during training. This encourages the model to focus on the broader spatial context for robust visual recognition. Evaluations on real agricultural datasets demonstrate that MaskAdapt consistently outperforms existing State-of-the-Art (SOTA) UDA methods, achieving improved segmentation mean Intersection over Union (mIOU) across diverse field conditions.