Learning to Simulate Complex Scenes for Street Scene Segmentation

Abstract

Data simulation engines like Unity are becoming an increasingly important data source that allows us to acquire ground truth labels conveniently. Moreover, we can flexibly edit the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">content</i> of an image in the engine, such as objects (position, orientation) and environments (illumination, occlusion). When using simulated data as training sets, its editable content can be leveraged to mimick the distribution of real-world data, and thus reduce the content difference between the synthetic and real domains. This paper explores content adaptation in the context of semantic segmentation, where the complex street scenes are fully synthesized using 19 classes of virtual objects from a first person driver perspective and controlled by 23 attributes. To optimize the attribute values and obtain a training set of similar content to real-world data, we propose a scalable discretization-and-relaxation (SDR) approach. Under a reinforcement learning framework, we formulate attribute optimization as a random-to-optimized mapping problem using a neural network. Our method has three characteristics. 1) Instead of editing attributes of individual objects, we focus on global attributes that have large influence on the scene structure, such as object density and illumination. 2) Attributes are quantized to discrete values, so as to reduce search space and training complexity. 3) Correlated attributes are jointly optimized in a group, so as to avoid meaningless scene structures and find better convergence points. Experiment shows our system can generate reasonable and useful scenes, from which we obtain promising real-world segmentation accuracy compared with existing synthetic training sets.