DBCAN: DFormer-Based Cross-Attention Network for RGB Depth Semantic Segmentation

Abstract

Existing RGB-depth semantic segmentation methods primarily rely on symmetric two-stream Convolutional Neural Networks (CNNs) to extract RGB and spatial features separately. However, these architectures have limitations in incorporating spatial features and efficiently fusing RGB and depth information. In this study, we propose a novel architecture called the DFormer-Based Cross-Attention Network (DBCAN), which utilizes DFormer as an encoder for feature extraction and integrates several modifications to address these challenges. While DFormer is leveraged for its strong feature extraction capabilities, our modifications in the decoder focus on improving cross-modal fusion and spatial feature incorporation. We introduce three modules in the decoding process: the Object-Region Generated Module (ORGM), the Feature-Region Relation Module (FRRM), and the Spatial-Semantic Fusion Module (SSFM), which enhance feature interaction and segmentation accuracy. Experimental results on the NYUDepthv2 and SUN-RGBD datasets demonstrate that DBCAN achieves state-of-the-art performance, highlighting the effectiveness of our architectural enhancements in overcoming the limitations of existing models.