Data to 7 Oct 2026

RedNet: Residual Encoder-Decoder Network for indoor RGB-D Semantic Segmentation

arXiv 1806.01054 ↗First posted 4 Jun 2018cs.CVcited by 65

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Abstract (arXiv)

Indoor semantic segmentation has always been a difficult task in computer vision. In this paper, we propose an RGB-D residual encoder-decoder architecture, named RedNet, for indoor RGB-D semantic segmentation. In RedNet, the residual module is applied to both the encoder and decoder as the basic building block, and the skip-connection is used to bypass the spatial feature between the encoder and decoder. In order to incorporate the depth information of the scene, a fusion structure is constructed, which makes inference on RGB image and depth image separately, and fuses their features over several layers. In order to efficiently optimize the network's parameters, we propose a `pyramid supervision' training scheme, which applies supervised learning over different layers in the decoder, to cope with the problem of gradients vanishing. Experiment results show that the proposed RedNet(ResNet-50) achieves a state-of-the-art mIoU accuracy of 47.8% on the SUN RGB-D benchmark dataset.

Key facts. Cited by 65 papers in the map (data through 7 Oct 2026). First posted on arXiv 4 Jun 2018.

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Citing papers per year: 2021: 8; 2022: 20; 2023: 14; 2024: 11; 2025: 7; 2026: 5.

65 papers.

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2021What Makes Multi-modal Learning Better than Single (Provably)cited by 151
2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
2021Pathdreamer: A World Model for Indoor Navigationcited by 117
2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 117
2022Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scalecited by 116
2022Modality Competition: What Makes Joint Training of Multi-modal Network Fail in Deep Learning? (Provably)cited by 115
2022Habitat-Matterport 3D Semantics Datasetcited by 109
2022Navigating to Objects in the Real Worldcited by 104
2023DREAMWALKER: Mental Planning for Continuous Vision-Language Navigationcited by 82
2021Auxiliary Tasks and Exploration Enable ObjectNavcited by 73
2024OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Modelscited by 66
2022A New Path: Scaling Vision-and-Language Navigation with Synthetic Instructions and Imitation Learningcited by 60

38 more

2022Housekeep: Tidying Virtual Households using Commonsense Reasoningcited by 57
20223D-Aware Object Goal Navigation via Simultaneous Exploration and Identificationcited by 46
2025World-in-World: World Models in a Closed-Loop Worldcited by 44
2021Improving Multi-Modal Learning with Uni-Modal Teacherscited by 40
2023Learning Navigational Visual Representations with Semantic Map Supervisioncited by 40
2022Iterative Vision-and-Language Navigationcited by 34
2022Simple and Effective Synthesis of Indoor 3D Scenescited by 33
2022Episodic Memory Question Answeringcited by 32
2022Stubborn: A Strong Baseline for Indoor Object Navigationcited by 31
2022WayFAST: Navigation with Predictive Traversability in the Fieldcited by 30
2023Missing Modality Robustness in Semi-Supervised Multi-Modal Semantic Segmentationcited by 24
2022PEANUT: Predicting and Navigating to Unseen Targetscited by 22
2024OVER-NAV: Elevating Iterative Vision-and-Language Navigation with Open-Vocabulary Detection and StructurEd Representationcited by 17
2023AsymFormer: Asymmetrical Cross-Modal Representation Learning for Mobile Platform Real-Time RGB-D Semantic Segmentationcited by 16
2024Enhancing Multi-Robot Semantic Navigation Through Multimodal Chain-of-Thought Score Collaborationcited by 14
2023Pixel Difference Convolutional Network for RGB-D Semantic Segmentationcited by 13
2023RGB-D And Thermal Sensor Fusion: A Systematic Literature Reviewcited by 12
2023LaMPP: Language Models as Probabilistic Priors for Perception and Actioncited by 11
2022Online Learning of Reusable Abstract Models for Object Goal Navigationcited by 9
2022DCANet: Differential Convolution Attention Network for RGB-D Semantic Segmentationcited by 9
2023Exploitation-Guided Exploration for Semantic Embodied Navigationcited by 9
2023Joint Depth Prediction and Semantic Segmentation with Multi-View SAMcited by 8
2023Efficient Multi-Task Scene Analysis with RGB-D Transformerscited by 7
2022Attention-based Dual Supervised Decoder for RGBD Semantic Segmentationcited by 6
2024Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentationcited by 6
2025NAF: Zero-Shot Feature Upsampling via Neighborhood Attention Filteringcited by 6
2021Deep feature selection-and-fusion for RGB-D semantic segmentationcited by 5
2023GAMUS: A Geometry-aware Multi-modal Semantic Segmentation Benchmark for Remote Sensing Datacited by 4
2025Revisiting Cross-Modal Knowledge Distillation: A Disentanglement Approach for RGBD Semantic Segmentationcited by 4
2021Global-Local Propagation Network for RGB-D Semantic Segmentationcited by 3
2021Review on Indoor RGB-D Semantic Segmentation with Deep Convolutional Neural Networkscited by 3
2023Implicit Obstacle Map-driven Indoor Navigation Model for Robust Obstacle Avoidancecited by 3
2025MVIP -- A Dataset and Methods for Application Oriented Multi-View and Multi-Modal Industrial Part Recognitioncited by 3
2025Distilling LLM Prior to Flow Model for Generalizable Agent's Imagination in Object Goal Navigationcited by 3
2022Trans4Map: Revisiting Holistic Bird's-Eye-View Mapping from Egocentric Images to Allocentric Semantics with Vision Transformerscited by 2
2024BenchCloudVision: A Benchmark Analysis of Deep Learning Approaches for Cloud Detection and Segmentation in Remote Sensing Imagerycited by 2
2024Leveraging Large Language Model-based Room-Object Relationships Knowledge for Enhancing Multimodal-Input Object Goal Navigationcited by 2
2024Depth-guided Texture Diffusion for Image Semantic Segmentationcited by 2

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