The encoder-decoder framework is state-of-the-art for offline semantic image segmentation. Since the rise in autonomous systems, real-time computation is increasingly desirable. In this paper, we introduce fast segmentation convolutional neural network (Fast-SCNN), an above real-time semantic segmentation model on high resolution image data (1024x2048px) suited to efficient computation on embedded devices with low memory. Building on existing two-branch methods for fast segmentation, we introduce our learning to downsample' module which computes low-level features for multiple resolution branches simultaneously. Our network combines spatial detail at high resolution with deep features extracted at lower resolution, yielding an accuracy of 68.0 mean intersection over union at 123.5 frames per second on Cityscapes. We also show that large scale pre-training is unnecessary. We thoroughly validate our metric in experiments with ImageNet pre-training and the coarse labeled data of Cityscapes. Finally, we show even faster computation with competitive results on subsampled inputs, without any network modifications.
Other competitive fundamental segmentation architectures use conditional random fields (CRF) @cite_19 @cite_9 or recurrent neural networks @cite_21 @cite_19 . However, none of them run in real-time.
@cite_19 @cite_9 @cite_21
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Are we using the right potential functions in the Conditional Random Field models that are popular in the Vision community? Semantic segmentation and other pixel-level labelling tasks have made significant progress recently due to the deep learning paradigm. However, most state-of-the-art structured prediction methods also include a random field model with a hand-crafted Gaussian potential to model spatial priors, label consistencies and feature-based image conditioning. In this paper, we challenge this view by developing a new inference and learning framework which can learn pairwise CRF potentials restricted only by their dependence on the image pixel values and the size of the support. Both standard spatial and high-dimensional bilateral kernels are considered. Our framework is based on the observation that CRF inference can be achieved via projected gradient descent and consequently, can easily be integrated in deep neural networks to allow for end-to-end training. It is empirically demonstrated that such learned potentials can improve segmentation accuracy and that certain label class interactions are indeed better modelled by a non-Gaussian potential. In addition, we compare our inference method to the commonly used mean-field algorithm. Our framework is evaluated on several public benchmarks for semantic segmentation with improved performance compared to previous state-of-the-art CNN+CRF models. Hierarchical conditional random fields have been successfully applied to object segmentation. One reason is their ability to incorporate contextual information at different scales. However, these models do not allow multiple labels to be assigned to a single node. At higher scales in the image, this yields an oversimplified model, since multiple classes can be reasonable expected to appear within one region. This simplified model especially limits the impact that observations at larger scales may have on the CRF model. Neglecting the information at larger scales is undesirable since class-label estimates based on these scales are more reliable than at smaller, noisier scales. To address this problem, we propose a new potential, called harmony potential, which can encode any possible combination of class labels. We propose an effective sampling strategy that renders tractable the underlying optimization problem. Results show that our approach obtains state-of-the-art results on two challenging datasets: Pascal VOC 2009 and MSRC-21. Conditional random fields (CRF) are widely used for predicting output variables that have some internal structure. Most of the CRF research has been done on structured classification where the outputs are discrete. In this study we propose a CRF probabilistic model for structured regression that uses multiple non-structured predictors as its features. We construct features as squared prediction errors and show that this results in a Gaussian predictor. Learning becomes a convex optimization problem leading to a global solution for a set of parameters. Inference can be conveniently conducted through matrix computation. Experimental results on the remote sensing problem of estimating Aerosol Optical Depth (AOD) provide strong evidence that the proposed CRF model successfully exploits the inherent spatio-temporal properties of AOD data. The experiments revealed that CRF are more accurate than the baseline neural network and domain-based predictors. We study the segmental recurrent neural network for end-to-end acoustic modelling. This model connects the segmental conditional random field (CRF) with a recurrent neural network (RNN) used for feature extraction. Compared to most previous CRF-based acoustic models, it does not rely on an external system to provide features or segmentation boundaries. Instead, this model marginalises out all the possible segmentations, and features are extracted from the RNN trained together with the segmental CRF. In essence, this model is self-contained and can be trained end-to-end. In this paper, we discuss practical training and decoding issues as well as the method to speed up the training in the context of speech recognition. We performed experiments on the TIMIT dataset. We achieved 17.3 phone error rate (PER) from the first-pass decoding --- the best reported result using CRFs, despite the fact that we only used a zeroth-order CRF and without using any language model.