WILD SAM: A Simulated-and-Real Data Augmentation for Autonomous Driving Perception under Challenging Weather

Abstract

The performance of state-of-the-art object detectors degrades significantly under adverse weather, causing a safety-critical domain shift problem for autonomous vehicles. Recent efforts address this problem by relying on synthetic data to train the object detectors, which limits their real-world applicability. Meanwhile, pseudo-labeling is widely used for cross-dataset domain adaptation problems. However, these methods have not been exploited by weather-based domain adaptation approaches due to the noisy nature of such labels generated under harsh weather conditions. In this paper, we propose two new approaches to mitigate this weather-induced domain shift. First, we propose a Weather-Induced pseudo Label Denoising (WILD) framework that filters noisy pseudo labels generated by real data captured under adverse weather conditions. Second, we develop a novel hybrid training methodology, WILD SAM, that exploits both pseudo-label denoising and simulation-based training solutions while using real-data from the target harsh-weather domain. We validate both proposed approaches, WILD and WILD SAM, on the recently released Four Seasons dataset across rainy and snowy scenarios. Experiments show that the proposed frameworks improve Average Precision (AP) up to 13\% and significantly reduce the weather-induced performance gap relative to the baseline. The code is available at: https://github.com/Kh-Hamed/WILD-SAM