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@article{bertrand2023test,
title = {Test-time training for matching-based video object segmentation},
author = {Bertrand, Juliette and Kordopatis Zilos, Giorgos and Kalantidis, Yannis and Tolias, Giorgos},
journal = {Advances in Neural Information Processing Systems},
volume = {36},
pages = {20918--20941},
year = {2023},
doi = {},
}
@article{liu2023test,
title = {Test-time adaptation for nighttime color-thermal semantic segmentation},
author = {Liu, Yexin and Zhang, Weiming and Zhao, Guoyang and Zhu, Jinjing and Vasilakos, Athanasios V and Wang, Lin},
journal = {IEEE Transactions on Artificial Intelligence},
volume = {5},
number = {10},
pages = {4893--4904},
year = {2023},
publisher = {IEEE},
doi = {10.1109/tai.2023.3336611 },
}
@inproceedings{marie2023evaluation,
title = {Evaluation of Image Quality Assessment Metrics for Semantic Segmentation in a Machine-to-Machine Communication Scenario},
author = {Marie, Alban and Desnos, Karol and Morin, Luce and Zhang, Lu},
booktitle = {International Conference on Quality of Multimedia Experience},
pages = {1--6},
year = {2023},
organization = {IEEE},
}

A Survey on Degraded Image Segmentation

Taxonomy

A comprehensive survey on robust image segmentation under various degradation conditions

Physical AI World Model Visual Understanding

Paper GitHub Stars License

Paper | Paper List | Project Page


Abstract

Segmentation is the core of visual understanding — the foundation of Physical AI and World Model.

Image segmentation is a fundamental task in computer vision with wide-ranging applications. While deep learning models have achieved remarkable success under ideal conditions, their performance often degrades catastrophically when faced with real-world image corruptions. These corruptions span several key categories, including adverse weather (e.g., fog, rain, snow), challenging light (e.g., nighttime, low-light), digital artifacts from processing (e.g., compression, color jitter), various forms of blur (e.g., motion, defocus), and pervasive noise (e.g., sensor noise, speckle).

This survey provides a comprehensive and structured overview of the field of degraded image segmentation. We establish a detailed taxonomy of common image degradations impacting segmentation tasks. We review a wide array of datasets and benchmarks designed for evaluating robustness. Furthermore, we systematically analyze state-of-the-art methodologies, categorized by their core technical strategies: Domain Adaptation and Generalization, Joint Restoration-Segmentation techniques, and Multi-modal Fusion.

This survey is essential for autonomous driving, robotics, and real-world AI systems — the core pillars of Physical AI.


Degradation Examples

Degradation Examples

Examples of various image degradation types: weather, light, digital, blur, and noise.


Physical AI Applications

Physical AI Applications

Degraded image segmentation is fundamental to Physical AI — enabling reliable perception for autonomous vehicles and robots in real-world environments.


Highlights

  • 135+ papers systematically organized following the survey's methodology taxonomy
  • 37 papers with open-source code are marked with code links
  • Comprehensive coverage of 5 degradation categories: Weather, Light, Digital, Blur, Noise
  • 3 main methodological strategies: Domain Adaptation/Generalization, Joint Restoration-Segmentation, Multi-modal Fusion
  • Essential for Physical AI — the foundation of autonomous driving, robotics, and real-world AI systems

Paper List

Papers with available code are marked with a code link in the "Code" column.

1. Domain Adaptation & Generalization (DA/DG)

1.1 Adversarial Learning Approaches

Title Authors Year Venue Code BibTeX
ICDA: Illumination-Coupled Domain Adaptation Framework for Unsupervised Nighttim... Dong et al. 2023 IJCAI Code BibTeX
A one-stage domain adaptation network with image alignment for unsupervised nigh... Wu et al. 2021 PAMI Code BibTeX
Dual-branch teacher-student with noise-tolerant learning for domain adaptive nig... Chen et al. 2024 Image and Vision Com... - BibTeX
Weakly supervised semantic segmentation for point cloud based on view-based adve... Miao et al. 2023 Computers & Graphic... - BibTeX
All-weather road drivable area segmentation method based on CycleGAN Jiqing et al. 2023 The Visual Computer - BibTeX
FISS GAN: A generative adversarial network for foggy image semantic segmentation Liu et al. 2021 IEEE/CAA Journal of ... - BibTeX
Semantic segmentation with unsupervised domain adaptation under varying weather ... Erkent et al. 2020 IEEE Robotics and Au... - BibTeX
Nighttime road scene parsing by unsupervised domain adaptation Song et al. 2020 IEEE transactions on... - BibTeX
Heatnet: Bridging the day-night domain gap in semantic segmentation with thermal... Vertens et al. 2020 2020 IEEE/RSJ Intern... - BibTeX
Advent: Adversarial entropy minimization for domain adaptation in semantic segme... Vu et al. 2019 CVPR - BibTeX

1.2 Feature Alignment

Title Authors Year Venue Code BibTeX
Condition-invariant semantic segmentation Sakaridis et al. 2025 PAMI Code BibTeX
Contrastive model adaptation for cross-condition robustness in semantic segmenta... Br{""u et al. 2023 ICCV Code BibTeX
Degraded Image Semantic Segmentation Using Intra-image and Inter-image Contrasti... Dong et al. 2023 China Automation Con... Code BibTeX
Cross-domain correlation distillation for unsupervised domain adaptation in nigh... Gao et al. 2022 CVPR Code BibTeX
Computational Imaging for Machine Perception: Transferring Semantic Segmentation... Jiang et al. 2024 IEEE Transactions on... - BibTeX
Refign: Align and refine for adaptation of semantic segmentation to adverse cond... Br{""u et al. 2023 WACV - BibTeX
Fifo: Learning fog-invariant features for foggy scene segmentation. Lee et al. 2022 CVPR - BibTeX
Cluster alignment with target knowledge mining for unsupervised domain adaptatio... Wang et al. 2022 IEEE Transactions on... - BibTeX
Learning intra-domain style-invariant representation for unsupervised domain ada... Li et al. 2022 Pattern Recognition - BibTeX
Semantic nighttime image segmentation via illumination and position aware domain... Peng et al. 2021 2021 IEEE Internatio... - BibTeX
Learning texture invariant representation for domain adaptation of semantic segm... Kim et al. 2020 CVPR - BibTeX
Degraded image semantic segmentation with dense-gram networks Guo et al. 2019 IEEE Transactions on... - BibTeX
Ssf-dan: Separated semantic feature based domain adaptation network for semantic... Du et al. 2019 ICCV - BibTeX

1.3 Feature Decomposition

Title Authors Year Venue Code BibTeX
Learning generalized segmentation for foggy-scenes by bi-directional wavelet gui... Bi et al. 2024 the AAAI Conference ... Code BibTeX
When semantic segmentation meets frequency aliasing Chen et al. 2024 ICLR Code BibTeX
All about structure: Adapting structural information across domains for boosting... Chang et al. 2019 CVPR Code BibTeX
Generalized Foggy-Scene Semantic Segmentation by Frequency Decoupling Bi et al. 2024 CVPR - BibTeX
DDFL: Dual-Domain Feature Learning for nighttime semantic segmentation Lin et al. 2024 Displays - BibTeX
Disentangle then Parse: Night-time Semantic Segmentation with Illumination Disen... Wei et al. 2023 ICCV - BibTeX
Interactive learning of intrinsic and extrinsic properties for all-day semantic ... Bi et al. 2023 IEEE Transactions on... - BibTeX
Both style and fog matter: Cumulative domain adaptation for semantic foggy scene... Ma et al. 2022 CVPR - BibTeX

1.4 Self-Training & Pseudo-Labeling

Title Authors Year Venue Code BibTeX
Stable Neighbor Denoising for Source-free Domain Adaptive Segmentation Zhao et al. 2024 CVPR Code BibTeX
Self pseudo entropy knowledge distillation for semi-supervised semantic segmenta... Lu et al. 2024 IEEE Transactions on... Code BibTeX
VBLC: Visibility boosting and logit-constraint learning for domain adaptive sema... Li et al. 2023 the AAAI Conference ... Code BibTeX
LoopDA: Constructing self-loops to adapt nighttime semantic segmentation Shen et al. 2023 WACV Code BibTeX
Dtbs: Dual-teacher bi-directional self-training for domain adaptation in nightti... Huang et al. 2023 European Conference ... Code BibTeX
Online domain adaptation for semantic segmentation in ever-changing conditions Panagiotakopoulos et al. 2022 European Conference ... Code BibTeX
Bidirectional learning for domain adaptation of semantic segmentation Li et al. 2019 CVPR Code BibTeX
Source-Free Online Domain Adaptive Semantic Segmentation of Satellite Images Und... Niloy et al. 2024 ICASSP 2024-2024 IEE... - BibTeX
SDAT-Former++: A Foggy Scene Semantic Segmentation Method with Stronger Domain A... Wang et al. 2023 Remote Sensing - BibTeX
A Two-Stage Self-Training Framework for Nighttime Semantic Segmentation Yang et al. 2023 2023 38th Youth Acad... - BibTeX
SGDA: A Saliency-Guided Domain Adaptation Network for Nighttime Semantic Segment... Duan et al. 2023 2023 IEEE 6th Intern... - BibTeX
Dual-level Consistency Learning for Unsupervised Domain Adaptive Night-time Sema... Ding et al. 2023 2023 IEEE Internatio... - BibTeX
MADA: Multi-Level Alignment in Domain Adaptation Network for Nighttime Semantic ... Xu et al. 2023 2023 8th Internation... - BibTeX
A hybrid domain learning framework for unsupervised semantic segmentation Zhang et al. 2023 Neurocomputing - BibTeX
FogAdapt: Self-supervised domain adaptation for semantic segmentation of foggy i... Iqbal et al. 2022 Neurocomputing - BibTeX
Unsupervised foggy scene understanding via self spatial-temporal label diffusion Liao et al. 2022 IEEE Transactions on... - BibTeX
Augmentation consistency-guided self-training for source-free domain adaptive se... Prabhu et al. 2022 NeurIPS 2022 Worksho... - BibTeX
SS-SFDA: Self-supervised source-free domain adaptation for road segmentation in ... Kothandaraman et al. 2021 ICCV - BibTeX
CDAda: A curriculum domain adaptation for nighttime semantic segmentation Xu et al. 2021 ICCV - BibTeX
RanPaste: Paste consistency and pseudo label for semisupervised remote sensing i... Wang et al. 2021 IEEE Transactions on... - BibTeX

1.5 Knowledge Distillation

Title Authors Year Venue Code BibTeX
Lightweight deep learning methods for panoramic dental X-ray image segmentation Lin et al. 2023 Neural Computing and... Code BibTeX
Weather-degraded image semantic segmentation with multi-task knowledge distillat... Li et al. 2022 Image and Vision Com... - BibTeX
Self-feature distillation with uncertainty modeling for degraded image recogniti... Yang et al. 2022 European Conference ... - BibTeX
Robust semantic segmentation with multi-teacher knowledge distillation Amirkhani et al. 2021 IEEE Access - BibTeX
Efficient uncertainty estimation in semantic segmentation via distillation Holder et al. 2021 ICCV - BibTeX

1.6 Test-Time Adaptation & Continual Learning

Title Authors Year Venue Code BibTeX
Privacy-Preserving Synthetic Continual Semantic Segmentation for Robotic Surgery Xu et al. 2024 IEEE Transactions on... Code BibTeX
Enhanced Model Robustness to Input Corruptions by Per-corruption Adaptation of N... Camuffo et al. 2024 2024 IEEE/RSJ Intern... - BibTeX
Test-time adaptation for nighttime color-thermal semantic segmentation Liu et al. 2023 IEEE Transactions on... - BibTeX
Test-time training for matching-based video object segmentation Bertrand et al. 2023 Advances in Neural I... - BibTeX
Top-K Confidence Map Aggregation for Robust Semantic Segmentation Against Unexpe... Moriyasu et al. 2023 2023 IEEE Internatio... - BibTeX
Principles of forgetting in domain-incremental semantic segmentation in adverse ... Kalb et al. 2023 CVPR - BibTeX
Rethinking exemplars for continual semantic segmentation in endoscopy scenes: En... Wang et al. 2023 Computers in Biology... - BibTeX
To adapt or not to adapt? real-time adaptation for semantic segmentation Colomer et al. 2023 ICCV - BibTeX
Continual test-time domain adaptation Wang et al. 2022 CVPR - BibTeX
Continual unsupervised domain adaptation for semantic segmentation using a class... Marsden et al. 2022 2022 International J... - BibTeX

1.7 Other DA/DG Strategies

Title Authors Year Venue Code BibTeX
A Re-Parameterized Vision Transformer (ReVT) for Domain-Generalized Semantic Seg... Term{""o et al. 2023 ICCV Code BibTeX
Map-guided curriculum domain adaptation and uncertainty-aware evaluation for sem... Sakaridis et al. 2020 PAMI Code BibTeX
Complementary Masked-Guided Meta-Learning for Domain Adaptive Nighttime Segmenta... Chen et al. 2024 IEEE Signal Processi... - BibTeX
CAT: Exploiting Inter-Class Dynamics for Domain Adaptive Object Detection Kennerley et al. 2024 CVPR - BibTeX
Learning to learn single domain generalization Qiao et al. 2020 CVPR - BibTeX
Curriculum model adaptation with synthetic and real data for semantic foggy scen... Dai et al. 2020 International Journa... - BibTeX
Guided curriculum model adaptation and uncertainty-aware evaluation for semantic... Sakaridis et al. 2019 ICCV - BibTeX
Model adaptation with synthetic and real data for semantic dense foggy scene und... Sakaridis et al. 2018 ECCV - BibTeX

2. Joint Restoration & Segmentation

2.1 Dehazing/Defogging + Segmentation

Title Authors Year Venue Code BibTeX
Improving semantic segmentation under hazy weather for autonomous vehicles using... Saravanarajan et al. 2023 IEEE Access - BibTeX
Budget-Aware Road Semantic Segmentation in Unseen Foggy Scenes To et al. 2023 International Confer... - BibTeX
Rethinking image restoration for object detection Sun et al. 2022 Advances in Neural I... - BibTeX
Cooperative semantic segmentation and image restoration in adverse environmental... Xia et al. 2019 arXiv preprint arXiv... - BibTeX
A convolutional network for joint deraining and dehazing from a single image for... Sun et al. 2019 2019 IEEE/RSJ Intern... - BibTeX

2.2 Deraining + Segmentation

Title Authors Year Venue Code BibTeX
DRNet: Learning a dynamic recursion network for chaotic rain streak removal Jiang et al. 2025 Pattern Recognition Code BibTeX
Rainy day image semantic segmentation based on two-stage progressive network Zhang et al. 2024 The Visual Computer Code BibTeX
RCDNet: An interpretable rain convolutional dictionary network for single image ... Wang et al. 2023 IEEE Transactions on... Code BibTeX
SAPNet: Segmentation-aware progressive network for perceptual contrastive derain... Zheng et al. 2022 WACV Code BibTeX
Beyond monocular deraining: Parallel stereo deraining network via semantic prior Zhang et al. 2022 International Journa... Code BibTeX
Towards robust rain removal against adversarial attacks: A comprehensive benchma... Yu et al. 2022 CVPR Code BibTeX
A De-raining semantic segmentation network for real-time foreground segmentation Wang et al. 2021 Journal of Real-Time... Code BibTeX
Style Optimization Networks for real-time semantic segmentation of rainy and fog... Huang et al. 2025 Signal Processing: I... - BibTeX
Learning A Rain-Invariant Network For Instance Segmentation In The Rain Chen et al. 2024 2024 IEEE Internatio... - BibTeX
Real rainy scene analysis: A dual-module benchmark for image deraining and segme... Zhao et al. 2023 2023 IEEE Internatio... - BibTeX
Improved sea-ice identification using semantic segmentation with raindrop remova... Alsharay et al. 2022 IEEE Access - BibTeX
I can see clearly now: Image restoration via de-raining Porav et al. 2019 ICRA - BibTeX

2.3 Denoising + Segmentation

Title Authors Year Venue Code BibTeX
Instance Segmentation in the Dark Chen et al. 2023 IJCV Code BibTeX
AATCT-IDS: A benchmark Abdominal Adipose Tissue CT Image Dataset for image denoi... Ma et al. 2024 Computers in Biology... - BibTeX
Multi task deep learning phase unwrapping method based on semantic segmentation Wang et al. 2024 Journal of Optics - BibTeX
Plug-and-Play Joint Image Deblurring and Detection Marrs et al. 2023 2023 IEEE 25th Inter... - BibTeX
Segmentation-guided semantic-aware self-supervised denoising for SAR image Yuan et al. 2023 IEEE Transactions on... - BibTeX
Denoising pretraining for semantic segmentation Brempong et al. 2022 CVPR_Workshops - BibTeX
Speckle reduction via deep content-aware image prior for precise breast tumor se... Lee et al. 2022 IEEE Transactions on... - BibTeX
Efnet: Enhancement-fusion network for semantic segmentation Wang et al. 2021 Pattern Recognition - BibTeX
Effective image restoration for semantic segmentation Niu et al. 2020 Neurocomputing - BibTeX
Dapas: Denoising autoencoder to prevent adversarial attack in semantic segmentat... Cho et al. 2020 2020 International J... - BibTeX
Improved denoising autoencoder for maritime image denoising and semantic segment... Qiu et al. 2020 China Communications - BibTeX
DN-GAN: Denoising generative adversarial networks for speckle noise reduction in... Chen et al. 2020 Biomedical Signal Pr... - BibTeX

2.4 Deblurring + Segmentation

Title Authors Year Venue Code BibTeX
Turb-Seg-Res: A Segment-then-Restore Pipeline for Dynamic Videos with Atmospheri... Saha et al. 2024 CVPR - BibTeX
Automatic extraction of blur regions on a single image based on semantic segment... Shen et al. 2020 IEEE Access - BibTeX
Joint stereo video deblurring, scene flow estimation and moving object segmentat... Pan et al. 2019 IEEE Transactions on... - BibTeX
From motion blur to motion flow: A deep learning solution for removing heterogen... Gong et al. 2017 CVPR - BibTeX

2.5 Snow/Dust Removal + Segmentation

Title Authors Year Venue Code BibTeX
Deep dense multi-scale network for snow removal using semantic and depth priors Zhang et al. 2021 IEEE Transactions on... Code BibTeX
Semantic Segmentation and Inpainting of Dust with the S-Dust Dataset Buckel et al. 2023 International Federa... - BibTeX

2.6 Low-Light Enhancement + Segmentation

Title Authors Year Venue Code BibTeX
Nighttime image semantic segmentation with retinex theory Sun et al. 2024 Image and Vision Com... Code BibTeX
Improving nighttime driving-scene segmentation via dual image-adaptive learnable... Liu et al. 2023 IEEE Transactions on... Code BibTeX
Toward fast, flexible, and robust low-light image enhancement Ma et al. 2022 CVPR Code BibTeX
Lane detection based on real-time semantic segmentation for end-to-end autonomou... Liu et al. 2024 Digital Signal Proce... - BibTeX
Towards learning low-light indoor semantic segmentation with illumination-invari... Zhang et al. 2021 The International Ar... - BibTeX

2.7 JPEG Decoding + Segmentation

Title Authors Year Venue Code BibTeX
DSSLIC: Deep semantic segmentation-based layered image compression Akbari et al. 2019 IEEE International C... Code BibTeX
DCT-CompSegNet: fast layout segmentation in DCT compressed JPEG document images ... Rajesh et al. 2024 Multimedia Tools and... - BibTeX
Semantic segmentation in learned compressed domain Liu et al. 2022 Picture Coding Sympo... - BibTeX
Reverse error modeling for improved semantic segmentation Kuhn et al. 2022 IEEE International C... - BibTeX
Deep learning based image segmentation directly in the jpeg compressed domain Singh et al. 2021 2021 IEEE 8th Uttar ... - BibTeX
Semantic segmentation of JPEG blocks using a deep CNN for non-aligned JPEG forge... Alipour et al. 2020 Multimedia Tools and... - BibTeX

3. Multi-Modal Fusion

3.1 RGB + Thermal Fusion

Title Authors Year Venue Code BibTeX
MCNet: Multi-level correction network for thermal image semantic segmentation of... Xiong et al. 2021 Infrared Physics & ... Code BibTeX
Illumination Robust Semantic Segmentation Based on Cross-dimensional Multispectr... Ni et al. 2024 IEEE Access - BibTeX
CCAFFMNet: Dual-spectral semantic segmentation network with channel-coordinate a... Yi et al. 2022 Neurocomputing - BibTeX
FuseSeg: Semantic segmentation of urban scenes based on RGB and thermal data fus... Sun et al. 2020 IEEE Transactions on... - BibTeX
Robust semantic segmentation in adverse weather conditions by means of sensor da... Pfeuffer et al. 2019 International Confer... - BibTeX
RTFNet: RGB-thermal fusion network for semantic segmentation of urban scenes Sun et al. 2019 IEEE Robotics and Au... - BibTeX

3.2 RGB + LiDAR/Depth Fusion

Title Authors Year Venue Code BibTeX
Low-Light Enhancement and Global-Local Feature Interaction for RGB-T Semantic Se... Guo et al. 2025 IEEE Transactions on... Code BibTeX
Adaptive Entropy Multi-modal Fusion for Nighttime Lane Segmentation Zhang et al. 2024 IEEE Transactions on... - BibTeX
Delivering arbitrary-modal semantic segmentation Zhang et al. 2023 CVPR - BibTeX
Multi-robot collaborative perception with graph neural networks Zhou et al. 2022 IEEE Robotics and Au... - BibTeX
Multi-modal sensor fusion-based semantic segmentation for snow driving scenarios Vachmanus et al. 2021 IEEE sensors journal - BibTeX
UNO: Uncertainty-aware noisy-or multimodal fusion for unanticipated input degrad... Tian et al. 2020 ICRA - BibTeX

3.3 RGB + Event Camera Fusion

Title Authors Year Venue Code BibTeX
Event-assisted low-light video object segmentation Li et al. 2024 CVPR Code BibTeX
Cmda: Cross-modality domain adaptation for nighttime semantic segmentation Xia et al. 2023 ICCV Code BibTeX
Semantic Segmentation Research of Motion Blurred Images by Event Camera Liu et al. 2023 International Confer... - BibTeX

Citation

If you find this survey helpful, please cite:

@article{chen2026degraded,
  title={A Survey on Degraded Image Segmentation},
  author={Chen, Linwei and Fu, Ying and Shangguan, Jingyu and Xu, Jinglin and Peng, Yuxin},
  journal={Chinese Journal of Electronics},
  year={2026}
}

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