联合语义分割和深度估计的交通场景感知算法

范康,钟铭恩,谭佳威,詹泽辉,冯妍

Traffic scene perception algorithm with joint semantic segmentation and depth estimation

Kang FAN,Ming’en ZHONG,Jiawei TAN,Zehui ZHAN,Yan FENG

表 3 多任务Transformer模块消融实验结果

Tab.3 Results of multi-task Transformer module ablation experiments

模型 MIoU/% RMSE ARE GFLOPs f/(帧.s−1) SDFormer-noT 76.0 4.957 0.184 155.2 31.7 SDFormer-s 76.7 4.870 0.175 170.1 18.5 SDFormer-noD 77.8 4.815 0.153 178.3 9.7 SDFormer 77.6 4.781 0.156 167.0 23.6