Robust perception of road surface conditions is a critical challenge for the safe deployment of autonomous vehicles and the efficient management of transportation infrastructure. This paper introduces a synthetic data-driven deep learning framework designed to address this challenge. We present a large-scale, procedurally generated 3D synthetic dataset created in Blender, featuring a diverse range of road defects—including cracks, potholes, and puddles—alongside crucial road features like manhole covers and patches. Crucially, our dataset provides dense, pixel-perfect annotations for segmentation masks, depth maps, and camera parameters (intrinsic and extrinsic). Our proposed model leverages these rich annotations in a multi-task learning framework that jointly performs road defect segmentation and depth estimation, enabling a comprehensive geometric and semantic understanding of the road environment. A core contribution is a two-stage domain adaptation strategy to bridge the synthetic-to-real gap. First, we employ a modified CycleGAN with a segmentation-aware loss to translate synthetic images into a realistic domain while preserving defect fidelity. Second, during model training, we utilize a dual-discriminator adversarial approach, applying alignment at both the feature and output levels to minimize domain shift. Benchmarking experiments validate our approach, demonstrating high accuracy and computational efficiency. Our model excels in detecting subtle or occluded defects, attributed to an occlusion-aware loss formulation. The proposed system shows significant promise for real-time deployment in autonomous navigation, automated infrastructure assessment and Advanced Driver-Assistance Systems (ADAS).
Soans et al. (Mon,) studied this question.