Real-Time Fully Unsupervised Domain Adaptation for Lane Detection in Autonomous Driving

Abstract--While deep neural networks are being utilized heavily for autonomous driving, they need to be adapted to new unseen environmental conditions for which they were not trained. We focus on a safety critical application of lane detection, and propose a lightweight, fully unsupervised, real-time adaptation approach that only adapts the batch-normalization parameters of the model. We demonstrate that our technique can perform inference, followed by on-device adaptation, under a tight constraint of 30 FPS on Nvidia Jetson Orin. It shows similar accuracy (avg. of 92.19%) as a state-of-the-art semi-supervised adaptation These models are typically trained using simulators hyperparameters based only on unlabeled target data. However, the training data (source domain) demonstrate this technique on Nvidia Jetson Orin, where we can be significantly different from real-world conditions (target show that inference, followed by model adaptation, using each domain). Deep learning models will need to be adapted from incoming 1280 720 image can be achieved in tight realtime the labeled source domain to the unlabeled target domain performance constraints of up to 30 FPS.