Domain Generalization in Autonomous Driving: Evaluating YOLOv8s, RT-DETR, and YOLO-NAS with the ROAD-Almaty Dataset

Abstract

This study investigates the domain generalization capabilities of three state-of-the-art object detection models - YOLOv8s, RT-DETR, and YOLO-NAS - within the unique driving environment of Kazakhstan. Utilizing the newly constructed ROAD-Almaty dataset, which encompasses diverse weather, lighting, and traffic conditions, we evaluated the models' performance without any retraining. Quantitative analysis revealed that RT-DETR achieved an average F1-score of 0.672 at IoU=0.5, outperforming YOLOv8s (0.458) and YOLO-NAS (0.526) by approximately 46% and 27%, respectively. Additionally, all models exhibited significant performance declines at higher IoU thresholds (e.g., a drop of approximately 20% when increasing IoU from 0.5 to 0.75) and under challenging environmental conditions, such as heavy snowfall and low-light scenarios. These findings underscore the necessity for geographically diverse training datasets and the implementation of specialized domain adaptation techniques to enhance the reliability of autonomous vehicle detection systems globally. This research contributes to the understanding of domain generalization challenges in autonomous driving, particularly in underrepresented regions.