WHU-USI3DV / Mobile-Seed

[IEEE RAL'24 & IROS'24] Mobile-Seed: Joint Semantic Segmentation and Boundary Detection for Mobile Robots
https://whu-usi3dv.github.io/Mobile-Seed/
BSD 2-Clause "Simplified" License
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The bibound prediction picture shows blank #4

Closed Tranbaber closed 5 months ago

Tranbaber commented 6 months ago

Hello Author! I was able to get very good results in semantic segmentation and edge detection tasks after training, but during prediction, the bibound graph shows up blank and there is no effect graph like in the demo. What is the reason for this? Thank you for your answer.

bibound graph: demo_bibound_iter160000

martin-liao commented 6 months ago

which file was used for the visualization above?

Tranbaber commented 6 months ago

I used configs/Mobile_Seed/MS_tiny_cityscapes.py @martin-liao

martin-liao commented 6 months ago

I will check the visualization code later. The demo/image_demo.py file is a good practice for inference and visualization. You might try it.

Tranbaber commented 6 months ago

I have used demo/image_demo.py for inference and the config file is also configs/Mobile_Seed/MS_tiny_cityscapes.py and the inference comes out without any problem, but the above mentioned problem occurs when I use the .pth model file that I got from my own training for inference. So I think it might be a training issue. @martin-liao

martin-liao commented 6 months ago

Have you checked the semantic boundary label?

Tranbaber commented 6 months ago

The semantic boundary label I use for my training looks like this: aachen_000000_000019_gtFine_edge

The semantic boundary label generated according to the latest data_preprocess/cityscapes-preprocess/code/demoPreproc_gen_png_label.m looks like this: aachen_000000_000019_gtFine_edge @martin-liao

martin-liao commented 6 months ago

it seems that everything is right…… could you achieve the miou performance reported in the paper?

Tranbaber commented 6 months ago

Your model works very well, but I didn't reach the MIoU in the paper, probably due to equipment and dataset, etc. Here are the results of my training data:

image

Visualization results: demo_seg_iter160000 demo_sebound_iter160000 @martin-liao

martin-liao commented 6 months ago

The mIoU is 69.96, significantly lower than 78.44 reported in the paper. Are you sure you haven't made any modifications to the configurations, such as reducing the batch size?

martin-liao commented 6 months ago

I have noticed memory=8052 in the provided screenshot. It means that you either crop the input image to a smaller size or reduce the batch size.

martin-liao commented 6 months ago

For the boundary map visualization, I will check it later.

Tranbaber commented 6 months ago

Yes, sorry, I set samples_per_gpu=2 before training considering the GPU video memory, which is really an important reason that can affect the model performance. @martin-liao

martin-liao commented 6 months ago

I have checked the visualization code, and everything is right. binary boundary temp_bi semantic boundary temp_seb semantic temp_seg

martin-liao commented 6 months ago

The semantic boundary label I use for my training looks like this: aachen_000000_000019_gtFine_edge

The semantic boundary label generated according to the latest data_preprocess/cityscapes-preprocess/code/demoPreproc_gen_png_label.m looks like this: aachen_000000_000019_gtFine_edge @martin-liao

background should be black (255) instead of white (0)

Tranbaber commented 6 months ago

You really don't have a problem with your results. When I use demo/image_demo.py for inference, there is also no problem with visualizing the results if I use the weights file you trained on; however, if I use the weights file I trained on, nothing shows up in the bibound plot, it's blank. I think it's a problem with my training. Also, I would like to ask, the background of the semantic edge graph in the dataset you used for training is black right? Does it have to be black? @martin-liao

martin-liao commented 6 months ago

yeah,it's crucial

Tranbaber commented 6 months ago

okay, thanks very much! @martin-liao

martin-liao commented 5 months ago

Since the problem has been resolved, I will close the issue.