Open-World Semantic Segmentation Including Class Similarity

Matteo Sodano, Federico Magistri, Lucas Nunes, Jens Behley, Cyrill Stachniss

Abstract: Interpreting camera data is key for autonomously acting systems, such as autonomous vehicles. Vision systems that operate in real-world environments must be able to understand their surroundings and need the ability to deal with novel situations. This paper tackles open-world se-mantic segmentation, i.e., the variant of interpreting image data in which objects occur that have not been seen during training. We propose a novel approach that performs accu-rate closed-world semantic segmentation and, at the same time, can identify new categories without requiring any ad-ditional training data. Our approach 1 1 Code: https://github.com/PRBonn/ContMAV additionally provides a similarity measure for every newly discovered class in an image to a known category, which can be useful information in downstream tasks such as planning or mapping. Through extensive experiments, we show that our model achieves state-of-the-art results on classes known from training data as well as for anomaly segmentation and can distinguish between different unknown classes.