Efficient pyramid context encoding and feature embedding for semantic segmentation

摘要

For reality applications of semantic segmentation, inference speed and memory usage are two important factors. To address these challenges, we propose a lightweight feature pyramid encoding network (FPENet) for semantic segmentation with a good trade-off between accuracy and speed. We use a series of feature pyramid encoding (FPE) blocks to encode context at multiple scales in the encoder. Each FPE block consists of different depthwise dilated convolutions that perform as a spatial pyramid to extract features and reduce computational costs. During training, a one-shot neural architecture search algorithm is adopted to find the optimal structure for each FPE block from a large search space with a small search cost. After the search for the encoder, a mutual embedding upsample module is introduced in the decoder, consisting of two attention blocks. The encoder-decoder attention mechanism is used to help aggregate efficiently high-level semantic features and low-level spatial details. The proposed network outperforms the existing real-time methods with fewer parameters and improved inference speed on the Cityscapes and CamVid benchmark datasets. Specifically, it achieved 72.3% mean IoU on the Cityscapes test set with only 0.4 M parameters and 192.6 FPS speed on an Nvidia Titan V100 GPU, and 73.4% mean IoU with 116.2 FPS when running on higher resolution images.