# PseudoProp: Robust Pseudo-Label Generation for Semi-Supervised Object Detection in Autonomous Driving Systems Source: [PseudoProp: Robust Pseudo-Label Generation for Semi-Supervised Object Detection in Autonomous Driving Systems]() Collection index: [llms.txt]() Data updated: 2025-10-26T00:08:48.414Z Authors: Shu Hu, Chun-Hao Liu, Jayanta Dutta, Ming-Ching Chang, Siwei Lyu, Naveen Ramakrishnan Published: 2022-03-11T15:09:29.000Z ## Abstract Semi-supervised object detection methods are widely used in autonomous driving systems, where only a fraction of objects are labeled. To propagate information from the labeled objects to the unlabeled ones, pseudo-labels for unlabeled objects must be generated. Although pseudo-labels have proven to improve the performance of semi-supervised object detection significantly, the applications of image-based methods to video frames result in numerous miss or false detections using such generated pseudo-labels. In this paper, we propose a new approach, PseudoProp, to generate robust pseudo-labels by leveraging motion continuity in video frames. Specifically, PseudoProp uses a novel bidirectional pseudo-label propagation approach to compensate for misdetection. A feature-based fusion technique is also used to suppress inference noise. Extensive experiments on the large-scale Cityscapes dataset demonstrate that our method outperforms the state-of-the-art semi-supervised object detection methods by 7.4% on mAP75. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()