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Image-to-image translation is a class of vision and graphics problems where the goal is to learn the mapping between an input image and an output image using a training set of aligned image pairs. However, for many tasks, paired training data will not be available. We present an approach for learning to translate an image from a source domain $$X$$ to a target domain $$Y$$ in the absence of paired examples. Our goal is to learn a mapping $$G: X \rightarrow Y$$ such that the distribution of images from $G(X)$ is indistinguishable from the distribution $$Y$$ using an adversarial loss. Because this mapping is highly under-constrained, we couple it with an inverse mapping $$F: Y \rightarrow X$$ and introduce a {\em cycle consistency loss} to push $$F(G(X)) \approx X$$ (and vice versa). Qualitative results are presented on several tasks where paired training data does not exist, including collection style transfer, object transfiguration, season transfer, photo enhancement, etc. Quantitative comparisons against several prior methods demonstrate the superiority of our approach.
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Image-to-Image Translation for Autonomous Driving from Coarsely-Aligned Image Pairs
A self-driving car must be able to reliably handle adverse weather conditions (e.g., snowy) to operate safely. In this paper, we investigate the idea of turning sensor inputs (i.e., images) captured in an adverse condition into a benign one (i.e., sunny), upon which the downstream tasks (e.g., semantic segmentation) can attain high accuracy. Prior work primarily formulates this as an unpaired image-to-image translation problem due to the lack of paired images captured under the exact same camera poses and semantic layouts. While perfectly- aligned images are not available, one can easily obtain coarsely- paired images. For instance, many people drive the same routes daily in both good and adverse weather; thus, images captured at close-by GPS locations can form a pair. Though data from repeated traversals are unlikely to capture the same foreground objects, we posit that they provide rich contextual information to supervise the image translation model. To this end, we propose a novel training objective leveraging coarsely- aligned image pairs. We show that our coarsely-aligned training scheme leads to a better image translation quality and improved downstream tasks, such as semantic segmentation, monocular depth estimation, and visual localization.
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- PAR ID:
- 10466113
- Date Published:
- Journal Name:
- Proceedings IEEE International Conference on Robotics and Automation
- ISSN:
- 1050-4729
- Page Range / eLocation ID:
- 7756-7762
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
