Attentional Residual Dense Factorized Network for Real-Time Semantic Segmentation

Abstract

Semantic segmentation is a pixel-level image dense labeling task and plays a core role in autonomous driving. In this regard, how to balance between precision and speed is a frequently-studied issue. In this paper, we propose an alternative attentional residual dense factorized network (AttRDFNet) to address this issue. Specifically, we design a residual dense factorized convolution block (RDFB), which reaps the benefits of low-level and high-level layer-wise features through dense connection to boost segmentation precision whilst enjoying efficient computation by factorizing large convolution kernel into the product of two smaller kernels. This reduces computational burdens and makes real time become possible. To further leverage layer-wise features, we explore the graininess-aware channel and spatial attention modules to model different levels of salient features of interest. As a result, AttRDFNet can run with the inputs of the resolution 512 \( \times \) 1024 at the speed of 55.6 frames per second on a single Titan X GPU with solid 68.5% Mean IOU on the test set of Cityscapes. Experiments on the Cityscapes dataset show that AttRDFNet has real-time inference whilst achieving competitive precision against well-behaved counterparts.