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 5 SDFormer与单任务算法的语义分割性能对比

Tab.5 Comparison of semantic segmentation performance between SDFormer and single-task algorithms

方法 编码器 MIoU/% Np/106 GFLOPs PSPNet ResNet-101 78.5 68.5 546.8 SETR ViT-B 78.0 97.6 457.2 SegFormer MiT-B3 80.3 48.2 224.6 Mask2Former Swin-B 81.2 107.0 343.5 SDFormer Swin-B 79.2 116.7 247.5