【语义分割】ERFNet -- Efficient Residual Factorized ConvNet for Real-time Semantic Segmentation

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ERFNet的核心操作是residual connections 和factorized convolutions(convolutions with 1D kernels)

83 FPS in a single Titan X
7 FPS in a JetsonTX1 (embedded GPU)

Factorized Residual Layers

non-bottleneck和bottleneck有相近的参数量以及精度。但bottleneck计算量低，层数多，非线性强，故多被采用。

但严格来讲，non-bottleneck精度更高。

1D factorized convolutions 大大减少参数量（33%）的同时精度与二维卷积接近，且非线性更强。

non-bottleneck-1D (non-bt-1D) receives a direct 33% reduction in both convolutions and greatly accelerating its execution time.

Downsampling (reducing the spatial resolution) has thedrawback
of reducing the pixel precision (coarser outputs), but it also has two benefits: it lets the deeper layers gather more context (to improve classification) and it helps to reduce computation.

Architecture design

Result

cityscapes