Real-time semantic segmentation algorithm based on BiLevelNet

Stage	Operator	Mode	Output size
Stage 1	3 × 3 Conv	Stride 2	32 × 256 × 512
	3 × 3 Conv	Stride 1	32 × 256 × 512
	3 × 3 Conv	Stride 1	32 × 256 × 512
Stage 2	AFR-S		64 × 128 × 256
	2 × ARF	Dilated 2	64 × 128 × 256
Stage 3	AFR-S		128 × 64 × 128
	4 × AFR	Dilated 4	128 × 64 × 128
	5 × AFR	Dilated 8	128 × 64 × 128
Decoder	DAF		32 × 256 × 512
	1 × 1 Conv	Stride 1	19 × 256 × 512
	Bilinear		19 × 512 × 1024

Table 2. Performance comparison of different feature extraction modules on the Cityscapes dataset
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Table 2. Performance comparison of different feature extraction modules on the Cityscapes dataset
Params/M FLOPs/G FPS mIoU/%
SSnbt 0.83 11.61 132 67.1
DAB 0.75 10.78 140 71.8
AFR 0.68 9.64 128 75.5

Table 3. Experimental results of different reduction factor modules in Cityscapes validation set
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Table 3. Experimental results of different reduction factor modules in Cityscapes validation set
Ratio Params/M FLOPs/G FPS mIoU/%
0 0.67 9.59 135 74.0
1 0.74 10.25 116 74.2
1/2 0.69 9.75 120 75.0
1/4 0.68 9.64 128 75.5
1/8 0.67 9.61 130 75.1
1/16 0.67 9.6 131 74.1

Table 4. Experimental results of FADE modules on the Cityscapes validation dataset
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Table 4. Experimental results of FADE modules on the Cityscapes validation dataset
Params/M FLOPs/G FPS mIoU/%
Bilinear 0.68 9.64 128 75.5
FADE 0.7 10.4 121 75.9

Table 5. Performance comparison of different models on the Cityscapes dataset

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Table 5. Performance comparison of different models on the Cityscapes dataset

Algorithm	Size	Params/M	FLOPs/G	FPS	mIoU/%
ENet	512×1024	0.36	4.35	42	58.3
ERFNet	512×1024	2.10	26.8	59	68.0
LEDNet	512×1024	0.94	11.5	71	69.2
DABNet	512×1024	0.76	-	104	70.1
ELANet^[29]	512×1024	0.67	9.7	93	74.7
RELAXNet	512×1024	1.90	22.84	64	74.8
DALNet^[30]	512×1 024	0.48	-	74	71.1
BiseNet-v2	512×1024	3.40	21.2	156	72.6
MIFNet^[31]	512×1024	0.82	12.03	74	73.1
文献[32]	512×1024	6.22	12.5	154.7	74.2
Ours	512×1024	0.70	10.4	121	75.1

Table 6. Evaluation results of per-class IoU /% on the Cityscapes dataset

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Table 6. Evaluation results of per-class IoU /% on the Cityscapes dataset

Class	ERFNet	DABNet	LEDNet	FDDWNet	Ours
Roa	97.9	96.8	97.1	98.0	98.0
Sid	82.1	78.5	78.6	82.4	82.2
Bui	90.7	90.9	90.4	91.1	91.8
Wal	45.2	45.3	46.5	52.5	54.8
Fen	50.4	50.1	48.1	51.2	56.5
Pol	59.0	59.1	60.9	59.9	63.2
Tli	62.6	65.2	60.4	64.4	68.4
TSi	68.4	70.7	71.1	68.9	72.1
Veg	91.9	92.5	91.2	92.5	92.8
Ter	69.4	68.1	60.0	70.3	70.5
Sky	94.2	94.6	93.2	94.4	94.5
Ped	78.5	80.5	74.3	80.8	82.3
Rid	59.8	58.5	51.8	59.8	65.2
Car	93.4	92.7	92.3	94.0	94.3
Tru	52.5	52.7	61.0	56.5	59.2
Bus	60.8	67.2	72.4	68.9	78.5
Tra	53.7	50.9	51.0	48.6	73.9
Mot	49.9	50.4	43.3	55.7	57.9
Bic	64.2	65.7	70.2	67.7	70.2

Table 7. Performance comparison on the CamVid dataset

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Table 7. Performance comparison on the CamVid dataset

Algorithm	Size	Pretrain	Params/M	mIoU/%
ENet	360×480	N	0.36	51.3
CGNet	360×480	N	0.5	64.7
DALNet	360×480	N	0.47	66.1
LEDNet	360×480	N	0.94	66.6
DABNet	360×480	N	0.76	66.4
MIFNet	360×480	N	0.81	67.7
ELANet	360×480	N	0.67	67.9
BiseNet-v2	360×480	Y	5.8	68.7
Ours	360×480	N	0.7	68.2

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Majing Wu, Yong'ai Zhang, Shanling Lin, Zhixian Lin, Jianpu Lin. Real-time semantic segmentation algorithm based on BiLevelNet[J]. Opto-Electronic Engineering, 2024, 51(5): 240030

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Paper Information

Category: Article

Received: Jan. 30, 2024

Accepted: Mar. 13, 2024

Published Online: Jul. 31, 2024

The Author Email: Lin Jianpu (林坚普)

DOI:10.12086/oee.2024.240030

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Network framework of BiLevelNet

Table 1. Network framework of BiLevelNet

Table 2. Performance comparison of different feature extraction modules on the Cityscapes dataset

Table 2. Performance comparison of different feature extraction modules on the Cityscapes dataset

Table 3. Experimental results of different reduction factor modules in Cityscapes validation set

Table 3. Experimental results of different reduction factor modules in Cityscapes validation set

Table 4. Experimental results of FADE modules on the Cityscapes validation dataset

Table 4. Experimental results of FADE modules on the Cityscapes validation dataset

Table 5. Performance comparison of different models on the Cityscapes dataset

Table 5. Performance comparison of different models on the Cityscapes dataset

Table 6. Evaluation results of per-class IoU /% on the Cityscapes dataset

Table 6. Evaluation results of per-class IoU /% on the Cityscapes dataset

Table 7. Performance comparison on the CamVid dataset

Table 7. Performance comparison on the CamVid dataset

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