TiCoSS: Tightening the Coupling Between Semantic Segmentation and Stereo Matching Within a Joint Learning Framework

Guanfeng Tang, Zhiyuan Wu, Jiahang Li, Ping Zhong, Wei Ye, Xieyuanli Chen, Huimin Lu, Rui Fan

Abstract: Semantic segmentation and stereo matching, respectively analogous to the ventral and dorsal streams in our human brain, are two key components of autonomous driving perception systems. Addressing these two tasks with separate networks is no longer the mainstream direction in developing computer vision algorithms, particularly with the recent advances in large vision models and embodied artificial intelligence. The trend is shifting towards combining them within a joint learning framework, especially emphasizing feature sharing between the two tasks. The major contributions of this study lie in comprehensively tightening the coupling between semantic segmentation and stereo matching. Specifically, this study makes three key contributions: (1) a tightly coupled, gated feature fusion strategy, (2) a hierarchical deep supervision strategy, and (3) a coupling tightening loss function. The combined use of these technical contributions results in TiCoSS, a state-of-the-art joint learning framework that simultaneously tackles semantic segmentation and stereo matching. Through extensive experiments on the KITTI, vKITTI2, and Cityscapes datasets, along with both qualitative and quantitative analyses, we validate the effectiveness of our developed strategies and loss function. Our approach demonstrates superior performance compared to prior arts, with a notable increase in mean intersection over union by over 9%. Note to Practitioners—TiCoSS is a robust and effective joint learning framework that can simultaneously tackle semantic segmentation and stereo matching tasks. This work aims to improve semantic segmentation performance by exploring the potential complementarity and tightening the coupling between these two tasks. In the future, we plan to further improve the efficiency of the framework, so as to enable its real-time performance on resource-constrained hardware.