Pixel-wise semantic segmentation for visual scene understanding not only needs to be accurate, but also efficient in order to find any use in real-time application. Existing algorithms even though are accurate but they do not focus on utilizing the parameters of neural network efficiently. As a result they are huge in terms of parameters and number of operations; hence slow too. In this paper, we propose a novel deep neural network architecture which allows it to learn without any significant increase in number of parameters. Our network uses only 11.5 million parameters and 21.2 GFLOPs for processing an image of resolution 3x640x360. It gives state-of-the-art performance on CamVid and comparable results on Cityscapes dataset. We also compare our networks processing time on NVIDIA GPU and embedded system device with existing state-of-the-art architectures for different image resolutions.
In @cite_18 a pre-trained VGG was used as discriminator. Pooling indices after every max-pooling step was saved and then later used for upsampling in the decoder. Later on researchers came up with the idea of deep deconvolution network @cite_32 @cite_12 , fully convolutional network (FCN) combined with skip architecture @cite_24 , which eliminated the need of saving pooling indices. Networks designed for classification and categorization mostly use fully connected layer as their classifier; in FCN they get replaced with convolutional layers. Standard pre-trained encoders such as: AlexNet @cite_14 , VGG @cite_9 , and GoogLeNet @cite_15 have been used for segmentation. In order to get precise segmentation boundaries, researchers have also tried to cascade their deep convolutional neural network (DCNN) with post-processing steps, like the use of Conditional Random Field (CRF) @cite_8 @cite_4 .
@cite_18 @cite_14 @cite_4 @cite_8 @cite_9 @cite_32 @cite_24 @cite_15 @cite_12
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We propose a novel deep architecture, SegNet, for semantic pixel wise image labelling. SegNet has several attractive properties; (i) it only requires forward evaluation of a fully learnt function to obtain smooth label predictions, (ii) with increasing depth, a larger context is considered for pixel labelling which improves accuracy, and (iii) it is easy to visualise the effect of feature activation(s) in the pixel label space at any depth. SegNet is composed of a stack of encoders followed by a corresponding decoder stack which feeds into a soft-max classification layer. The decoders help map low resolution feature maps at the output of the encoder stack to full input image size feature maps. This addresses an important drawback of recent deep learning approaches which have adopted networks designed for object categorization for pixel wise labelling. These methods lack a mechanism to map deep layer feature maps to input dimensions. They resort to ad hoc methods to upsample features, e.g. by replication. This results in noisy predictions and also restricts the number of pooling layers in order to avoid too much upsampling and thus reduces spatial context. SegNet overcomes these problems by learning to map encoder outputs to image pixel labels. We test the performance of SegNet on outdoor RGB scenes from CamVid, KITTI and indoor scenes from the NYU dataset. Our results show that SegNet achieves state-of-the-art performance even without use of additional cues such as depth, video frames or post-processing with CRF models. Deep Convolutional Neural Networks (DCNNs) have recently shown state of the art performance in high level vision tasks, such as image classification and object detection. This work brings together methods from DCNNs and probabilistic graphical models for addressing the task of pixel-level classification (also called "semantic image segmentation"). We show that responses at the final layer of DCNNs are not sufficiently localized for accurate object segmentation. This is due to the very invariance properties that make DCNNs good for high level tasks. We overcome this poor localization property of deep networks by combining the responses at the final DCNN layer with a fully connected Conditional Random Field (CRF). Qualitatively, our "DeepLab" system is able to localize segment boundaries at a level of accuracy which is beyond previous methods. Quantitatively, our method sets the new state-of-art at the PASCAL VOC-2012 semantic image segmentation task, reaching 71.6 IOU accuracy in the test set. We show how these results can be obtained efficiently: Careful network re-purposing and a novel application of the 'hole' algorithm from the wavelet community allow dense computation of neural net responses at 8 frames per second on a modern GPU. In this work we investigate the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting. Our main contribution is a thorough evaluation of networks of increasing depth using an architecture with very small (3x3) convolution filters, which shows that a significant improvement on the prior-art configurations can be achieved by pushing the depth to 16-19 weight layers. These findings were the basis of our ImageNet Challenge 2014 submission, where our team secured the first and the second places in the localisation and classification tracks respectively. We also show that our representations generalise well to other datasets, where they achieve state-of-the-art results. We have made our two best-performing ConvNet models publicly available to facilitate further research on the use of deep visual representations in computer vision. We propose a novel semantic segmentation algorithm by learning a deconvolution network. We learn the network on top of the convolutional layers adopted from VGG 16-layer net. The deconvolution network is composed of deconvolution and unpooling layers, which identify pixel-wise class labels and predict segmentation masks. We apply the trained network to each proposal in an input image, and construct the final semantic segmentation map by combining the results from all proposals in a simple manner. The proposed algorithm mitigates the limitations of the existing methods based on fully convolutional networks by integrating deep deconvolution network and proposal-wise prediction; our segmentation method typically identifies detailed structures and handles objects in multiple scales naturally. Our network demonstrates outstanding performance in PASCAL VOC 2012 dataset, and we achieve the best accuracy (72.5 ) among the methods trained with no external data through ensemble with the fully convolutional network. Convolutional networks are powerful visual models that yield hierarchies of features. We show that convolutional networks by themselves, trained end-to-end, pixels-to-pixels, exceed the state-of-the-art in semantic segmentation. Our key insight is to build "fully convolutional" networks that take input of arbitrary size and produce correspondingly-sized output with efficient inference and learning. We define and detail the space of fully convolutional networks, explain their application to spatially dense prediction tasks, and draw connections to prior models. We adapt contemporary classification networks (AlexNet, the VGG net, and GoogLeNet) into fully convolutional networks and transfer their learned representations by fine-tuning to the segmentation task. We then define a novel architecture that combines semantic information from a deep, coarse layer with appearance information from a shallow, fine layer to produce accurate and detailed segmentations. Our fully convolutional network achieves state-of-the-art segmentation of PASCAL VOC (20 relative improvement to 62.2 mean IU on 2012), NYUDv2, and SIFT Flow, while inference takes one third of a second for a typical image. We propose a deep convolutional neural network architecture codenamed "Inception", which was responsible for setting the new state of the art for classification and detection in the ImageNet Large-Scale Visual Recognition Challenge 2014 (ILSVRC 2014). The main hallmark of this architecture is the improved utilization of the computing resources inside the network. This was achieved by a carefully crafted design that allows for increasing the depth and width of the network while keeping the computational budget constant. To optimize quality, the architectural decisions were based on the Hebbian principle and the intuition of multi-scale processing. One particular incarnation used in our submission for ILSVRC 2014 is called GoogLeNet, a 22 layers deep network, the quality of which is assessed in the context of classification and detection. We present a novel and practical deep fully convolutional neural network architecture for semantic pixel-wise segmentation termed SegNet. This core trainable segmentation engine consists of an encoder network, a corresponding decoder network followed by a pixel-wise classification layer. The architecture of the encoder network is topologically identical to the 13 convolutional layers in the VGG16 network [1] . The role of the decoder network is to map the low resolution encoder feature maps to full input resolution feature maps for pixel-wise classification. The novelty of SegNet lies is in the manner in which the decoder upsamples its lower resolution input feature map(s). Specifically, the decoder uses pooling indices computed in the max-pooling step of the corresponding encoder to perform non-linear upsampling. This eliminates the need for learning to upsample. The upsampled maps are sparse and are then convolved with trainable filters to produce dense feature maps. We compare our proposed architecture with the widely adopted FCN [2] and also with the well known DeepLab-LargeFOV [3] , DeconvNet [4] architectures. This comparison reveals the memory versus accuracy trade-off involved in achieving good segmentation performance. SegNet was primarily motivated by scene understanding applications. Hence, it is designed to be efficient both in terms of memory and computational time during inference. It is also significantly smaller in the number of trainable parameters than other competing architectures and can be trained end-to-end using stochastic gradient descent. We also performed a controlled benchmark of SegNet and other architectures on both road scenes and SUN RGB-D indoor scene segmentation tasks. These quantitative assessments show that SegNet provides good performance with competitive inference time and most efficient inference memory-wise as compared to other architectures. We also provide a Caffe implementation of SegNet and a web demo at http: mi.eng.cam.ac.uk projects segnet .