The present invention provides a vehicle, system and method of navigating a vehicle. The vehicle and system include a digital camera for capturing a target image of a target domain of the vehicle, anda processor. The processor is configured to: determine a target segmentation loss for training the neural network to perform semantic segmentation of a target image in a target domain, determine a value of a pseudo-label of the target image by reducing the target segmentation loss while providing a supervision of the training over the target domain, perform semantic segmentation on the target image using the trained neural network to segment the target image and classify an object in the target image, and navigate the vehicle based on the classified object in the target image.
DOMAIN ADAPTATION VIA CLASS-BALANCED SELF-TRAINING WITH SPATIAL PRIORS