Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 23, Issue 4, Pages 3522-3530Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2020.3037727
Keywords
Convolution; Semantics; Training; Logic gates; Image segmentation; Real-time systems; Fuses; Semantic segmentation; convolutional neural network (CNN); real-time; scene perception
Categories
Funding
- National Key Research and Development Program of China [2019YFB1311001, 2018YFB1307403]
- National Natural Science Foundation of China [61876099]
- Scientific and Technological Development Project of Shandong Province [2019GSF111002]
- Shenzhen Science and Technology Research and Development Funds [JCYJ20180305164401921]
- Foundation of Key Laboratory of Intelligent Computing and Information Processing of Ministry of Education [2018ICIP03]
- Foundation of State Key Laboratory of Integrated Services Networks [ISN20-06]
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This paper proposes a real-time network for semantic segmentation called FRNet, which achieves a trade-off between accuracy and inference speed by employing Factorized and Regular (FR) blocks and an asymmetric encoder-decoder architecture. Experimental results on multiple datasets demonstrate that our network outperforms other state-of-the-art networks.
Nowadays, semantic segmentation methods for systems in road scene have a great demand. Most existing methods focus on high accuracy with low inference speed. And some approaches emphasize on speed, significantly sacrificing model accuracy. To make a trade-off between accuracy and inference speed, we propose a real-time network for semantic segmentation titled Factorized and Regular Network (FRNet), which employs an asymmetric encoder-decoder architecture with Factorized and Regular (FR) blocks. Our method achieves 70.4% mIoU on the Cityscapes test set with 1 million parameters at a speed of 127 frames per second (FPS) on a single Titan Xp at a resolution of 512 x 1024. We evaluate FRNet on Cityscapes, Camvid, Kitti, and Gatech datasets to identify that our network stands out from other state-of-the-art networks.
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