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ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation

arXiv 1606.02147 ↗First posted 7 Jun 2016cs.CVcited by 291

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Abstract (arXiv)

The ability to perform pixel-wise semantic segmentation in real-time is of paramount importance in mobile applications. Recent deep neural networks aimed at this task have the disadvantage of requiring a large number of floating point operations and have long run-times that hinder their usability. In this paper, we propose a novel deep neural network architecture named ENet (efficient neural network), created specifically for tasks requiring low latency operation. ENet is up to 18× faster, requires 75× less FLOPs, has 79× less parameters, and provides similar or better accuracy to existing models. We have tested it on CamVid, Cityscapes and SUN datasets and report on comparisons with existing state-of-the-art methods, and the trade-offs between accuracy and processing time of a network. We present performance measurements of the proposed architecture on embedded systems and suggest possible software improvements that could make ENet even faster.

Key facts. Cited by 291 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Jun 2016.

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Citing papers per year: 2018: 1; 2019: 0; 2020: 0; 2021: 80; 2022: 70; 2023: 60; 2024: 35; 2025: 25; 2026: 20.

291 papers.

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  1. 2021ATISS: Autoregressive Transformers for Indoor Scene Synthesiscited by 195
  2. 2024Scene-LLM: Extending Language Model for 3D Visual Understanding and Reasoningcited by 170
  3. 2021Pixel Difference Networks for Efficient Edge Detectioncited by 167
  4. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  5. 2021InstanceRefer: Cooperative Holistic Understanding for Visual Grounding on Point Clouds through Instance Multi-level Contextual Referringcited by 140
  6. 2021Rethinking BiSeNet For Real-time Semantic Segmentationcited by 124
  7. 2022Cross-Image Relational Knowledge Distillation for Semantic Segmentationcited by 117
  8. 2021Neural Parts: Learning Expressive 3D Shape Abstractions with Invertible Neural Networkscited by 101
  9. 2021Lite-HRNet: A Lightweight High-Resolution Networkcited by 91
  10. 2021Deep Dual-resolution Networks for Real-time and Accurate Semantic Segmentation of Road Scenescited by 89
  11. 2021LeViT-UNet: Make Faster Encoders with Transformer for Medical Image Segmentationcited by 85
  12. 2022PIDNet: A Real-time Semantic Segmentation Network Inspired by PID Controllerscited by 84
38 more
  1. 2021YOLOP: You Only Look Once for Panoptic Driving Perceptioncited by 82
  2. 2022X-Trans2Cap: Cross-Modal Knowledge Transfer using Transformer for 3D Dense Captioningcited by 70
  3. 2021Token Pooling in Vision Transformerscited by 68
  4. 2024Large Language Model Agent for Hyper-Parameter Optimizationcited by 62
  5. 2022CrossMoDA 2021 challenge: Benchmark of Cross-Modality Domain Adaptation techniques for Vestibular Schwannoma and Cochlea Segmentationcited by 58
  6. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
  7. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  8. 2021Capturing Omni-Range Context for Omnidirectional Segmentationcited by 49
  9. 20213D-to-2D Distillation for Indoor Scene Parsingcited by 47
  10. 2021FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-time Semantic Segmentationcited by 45
  11. 2021Edge-aware Guidance Fusion Network for RGB Thermal Scene Parsingcited by 44
  12. 2021Efficient Medical Image Segmentation Based on Knowledge Distillationcited by 43
  13. 2021LaneAF: Robust Multi-Lane Detection with Affinity Fieldscited by 41
  14. 2023You Only Segment Once: Towards Real-Time Panoptic Segmentationcited by 40
  15. 2021HR-NAS: Searching Efficient High-Resolution Neural Architectures with Lightweight Transformerscited by 39
  16. 2023Vote2Cap-DETR++: Decoupling Localization and Describing for End-to-End 3D Dense Captioningcited by 38
  17. 2023PartNeRF: Generating Part-Aware Editable 3D Shapes without 3D Supervisioncited by 36
  18. 2023Structural and Statistical Texture Knowledge Distillation for Semantic Segmentationcited by 34
  19. 2022PP-LiteSeg: A Superior Real-Time Semantic Segmentation Modelcited by 33
  20. 2022Predictive Inference with Feature Conformal Predictioncited by 33
  21. 2021Trans4Trans: Efficient Transformer for Transparent Object Segmentation to Help Visually Impaired People Navigate in the Real Worldcited by 30
  22. 2021Echocardiography Segmentation with Enforced Temporal Consistencycited by 30
  23. 2023SFD2: Semantic-guided Feature Detection and Descriptioncited by 28
  24. 2023CPSeg: Finer-grained Image Semantic Segmentation via Chain-of-Thought Language Promptingcited by 28
  25. 2021MODS -- A USV-oriented object detection and obstacle segmentation benchmarkcited by 27
  26. 2023Semantic Image Segmentation: Two Decades of Researchcited by 26
  27. 2022Interclass Prototype Relation for Few-Shot Segmentationcited by 25
  28. 2021Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Camerascited by 24
  29. 2021Panoramic Panoptic Segmentation: Towards Complete Surrounding Understanding via Unsupervised Contrastive Learningcited by 23
  30. 2021Cross-Dataset Collaborative Learning for Semantic Segmentation in Autonomous Drivingcited by 23
  31. 2021Trans4Trans: Efficient Transformer for Transparent Object and Semantic Scene Segmentation in Real-World Navigation Assistancecited by 22
  32. 2022A Dense Material Segmentation Dataset for Indoor and Outdoor Scene Parsingcited by 22
  33. 2023SCTNet: Single-Branch CNN with Transformer Semantic Information for Real-Time Segmentationcited by 22
  34. 2022A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperationcited by 21
  35. 2024Context-Aware Interaction Network for RGB-T Semantic Segmentationcited by 21
  36. 2021Double Similarity Distillation for Semantic Image Segmentationcited by 19
  37. 2021Bounding Box Tightness Prior for Weakly Supervised Image Segmentationcited by 19
  38. 2021Unsupervised Domain Adaptation for Semantic Image Segmentation: a Comprehensive Surveycited by 19

50 most cited of 291 All 291 (JSON)