Efficient Dual-Branch Bottleneck Networks of Semantic Segmentation Based on CCD Camera

Abstract

This paper investigates a novel Efficient Dual-branch Bottleneck Network (EDBNet) to perform real-time semantic segmentation tasks on mobile robot systems based on CCD camera. To remedy the non-linear connection between the input and the output, a small-scale and shallow module called the Efficient Dual-branch Bottleneck (EDB) module is established. The EDB unit consists of two branches with different dilation rates, and each branch widens the non-linear layers. This module helps to simultaneously extract local and situational information while maintaining a minimal set of parameters. Moreover, the EDBNet, which is built on the EDB unit, is intended to enhance accuracy, inference speed, and parameter flexibility. It employs dilated convolution with a high dilation rate to increase the receptive field and three downsampling procedures to maintain feature maps with superior spatial resolution. Additionally, the EDBNet uses effective convolutions and compresses the network layer to reduce computational complexity, which is an efficient technique to capture a great deal of information while keeping a rapid computing speed. Finally, using the CamVid and Cityscapes datasets, we obtain Mean Intersection over Union (MIoU) results of 68.58 percent and 71.21 percent, respectively, with just 1.03 million parameters and faster performance on a single GTX 1070Ti card. These results also demonstrate the effectiveness of the practical mobile robot system.