Continual Stereo Matching of Continuous Driving Scenes With Growing Architecture
The deep stereo models have achieved state-of-the-art performance on driving scenes, but they suffer from severe performance degradation when tested on unseen scenes. Although recent work has narrowed this performance gap through continuous online adaptation, this setup requires continuous gradient updates at inference and can hardly deal with rapidly changing scenes. To address these challenges, we propose to perform continual stereo matching where a model is tasked to 1) continually learn new scenes, 2) overcome forgetting previously learned scenes, and 3) continuously predict disparities at deployment. We achieve this goal by introducing a Reusable Architecture Growth (RAG) framework. RAG leverages task-specific neural unit search and architecture growth for continual learning of new scenes. During growth, it can maintain high reusability by reusing previous neural units while achieving good performance. A module named Scene Router is further introduced to adaptively select the scene-specific architecture path at inference. Experimental results demonstrate that our method achieves compelling performance in various types of challenging driving scenes.
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KITTI
Virtual KITTI
DrivingStereo
Virtual KITTI 2
