# Deep Dual-resolution Networks for Real-time and Accurate Semantic Segmentation of Road Scenes

arXiv: https://arxiv.org/abs/2101.06085 · HTML: https://mlsanity.com/paper/2101.06085/

## Key facts

- Cited by 89 papers in the map (data through 14 Oct 2026).
- Builds on 50 of its 61 references that are in the map.
- First posted on arXiv 15 Jan 2021.

## Builds on (most cited first, 30 of 50)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Xception: Deep Learning with Depthwise Separable Convolutions](https://mlsanity.com/paper/1610.02357/) (2016)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Searching for MobileNetV3](https://mlsanity.com/paper/1905.02244/) (2019)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [Deep High-Resolution Representation Learning for Human Pose Estimation](https://mlsanity.com/paper/1902.09212/) (2019)
- [ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devices](https://mlsanity.com/paper/1707.01083/) (2017)
- [Dual Attention Network for Scene Segmentation](https://mlsanity.com/paper/1809.02983/) (2018)
- [COCO-Stuff: Thing and Stuff Classes in Context](https://mlsanity.com/paper/1612.03716/) (2016)
- [CCNet: Criss-Cross Attention for Semantic Segmentation](https://mlsanity.com/paper/1811.11721/) (2018)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)
- [Training Region-based Object Detectors with Online Hard Example Mining](https://mlsanity.com/paper/1604.03540/) (2016)
- [Segmentation Transformer: Object-Contextual Representations for Semantic Segmentation](https://mlsanity.com/paper/1909.11065/) (2019)
- [Semantic Image Segmentation with Deep Convolutional Nets and Fully Connected CRFs](https://mlsanity.com/paper/1412.7062/) (2014)
- [Res2Net: A New Multi-scale Backbone Architecture](https://mlsanity.com/paper/1904.01169/) (2019)
- [BiSeNet V2: Bilateral Network with Guided Aggregation for Real-time Semantic Segmentation](https://mlsanity.com/paper/2004.02147/) (2020)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [ICNet for Real-Time Semantic Segmentation on High-Resolution Images](https://mlsanity.com/paper/1704.08545/) (2017)
- [High-Resolution Representations for Labeling Pixels and Regions](https://mlsanity.com/paper/1904.04514/) (2019)

## Built on by (most cited first, 30 of 89)

- [PIDNet: A Real-time Semantic Segmentation Network Inspired by PID Controllers](https://mlsanity.com/paper/2206.02066/) (2022)
- [CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Clouds](https://mlsanity.com/paper/2210.04264/) (2022)
- [CamLiFlow: Bidirectional Camera-LiDAR Fusion for Joint Optical Flow and Scene Flow Estimation](https://mlsanity.com/paper/2111.10502/) (2021)
- [Evaluating the Robustness of Semantic Segmentation for Autonomous Driving against Real-World Adversarial Patch Attacks](https://mlsanity.com/paper/2108.06179/) (2021)
- [DenseHybrid: Hybrid Anomaly Detection for Dense Open-set Recognition](https://mlsanity.com/paper/2207.02606/) (2022)
- [EdgeSAM: Prompt-In-the-Loop Distillation for SAM](https://mlsanity.com/paper/2312.06660/) (2023)
- [MMOCR: A Comprehensive Toolbox for Text Detection, Recognition and Understanding](https://mlsanity.com/paper/2108.06543/) (2021)
- [Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision](https://mlsanity.com/paper/2504.02477/) (2025)
- [3DRealCar: An In-the-wild RGB-D Car Dataset with 360-degree Views](https://mlsanity.com/paper/2406.04875/) (2024)
- [PEM: Prototype-based Efficient MaskFormer for Image Segmentation](https://mlsanity.com/paper/2402.19422/) (2024)
- [Frequency-Adaptive Dilated Convolution for Semantic Segmentation](https://mlsanity.com/paper/2403.05369/) (2024)
- [Depth Quality-Inspired Feature Manipulation for Efficient RGB-D Salient Object Detection](https://mlsanity.com/paper/2107.01779/) (2021)
- [OmniNWM: Omniscient Driving Navigation World Models](https://mlsanity.com/paper/2510.18313/) (2025)
- [RTFormer: Efficient Design for Real-Time Semantic Segmentation with Transformer](https://mlsanity.com/paper/2210.07124/) (2022)
- [On the Real-World Adversarial Robustness of Real-Time Semantic Segmentation Models for Autonomous Driving](https://mlsanity.com/paper/2201.01850/) (2022)
- [SeaFormer++: Squeeze-enhanced Axial Transformer for Mobile Visual Recognition](https://mlsanity.com/paper/2301.13156/) (2023)
- [Adversarial Patch Attacks and Defences in Vision-Based Tasks: A Survey](https://mlsanity.com/paper/2206.08304/) (2022)
- [Visual Semantic Segmentation Based on Few/Zero-Shot Learning: An Overview](https://mlsanity.com/paper/2211.08352/) (2022)
- [RingMoE: Mixture-of-Modality-Experts Multi-Modal Foundation Models for Universal Remote Sensing Image Interpretation](https://mlsanity.com/paper/2504.03166/) (2025)
- [S3M-Net: Joint Learning of Semantic Segmentation and Stereo Matching for Autonomous Driving](https://mlsanity.com/paper/2401.11414/) (2024)
- [Multi-domain semantic segmentation with overlapping labels](https://mlsanity.com/paper/2108.11224/) (2021)
- [Lightweight Monocular Depth Estimation through Guided Decoding](https://mlsanity.com/paper/2203.04206/) (2022)
- [DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds](https://mlsanity.com/paper/2308.04383/) (2023)
- [PSNet: Parallel Symmetric Network for Video Salient Object Detection](https://mlsanity.com/paper/2210.05912/) (2022)
- [Contextrast: Contextual Contrastive Learning for Semantic Segmentation](https://mlsanity.com/paper/2404.10633/) (2024)
- [Rethinking Dilated Convolution for Real-time Semantic Segmentation](https://mlsanity.com/paper/2111.09957/) (2021)
- [Defending From Physically-Realizable Adversarial Attacks Through Internal Over-Activation Analysis](https://mlsanity.com/paper/2203.07341/) (2022)
- [Delta Distillation for Efficient Video Processing](https://mlsanity.com/paper/2203.09594/) (2022)
- [SFNet: Faster and Accurate Semantic Segmentation via Semantic Flow](https://mlsanity.com/paper/2207.04415/) (2022)
- [Learning Optical Flow and Scene Flow with Bidirectional Camera-LiDAR Fusion](https://mlsanity.com/paper/2303.12017/) (2023)

## Abstract (arXiv)

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is intolerable for self-driving. Using light-weight architectures (encoder-decoder or two-pathway) or reasoning on low-resolution images, recent methods realize very fast scene parsing, even running at more than 100 FPS on a single 1080Ti GPU. However, there is still a significant gap in performance between these real-time methods and the models based on dilation backbones. To tackle this problem, we proposed a family of efficient backbones specially designed for real-time semantic segmentation. The proposed deep dual-resolution networks (DDRNets) are composed of two deep branches between which multiple bilateral fusions are performed. Additionally, we design a new contextual information extractor named Deep Aggregation Pyramid Pooling Module (DAPPM) to enlarge effective receptive fields and fuse multi-scale context based on low-resolution feature maps. Our method achieves a new state-of-the-art trade-off between accuracy and speed on both Cityscapes and CamVid dataset. In particular, on a single 2080Ti GPU, DDRNet-23-slim yields 77.4% mIoU at 102 FPS on Cityscapes test set and 74.7% mIoU at 230 FPS on CamVid test set. With widely used test augmentation, our method is superior to most state-of-the-art models and requires much less computation. Codes and trained models are available online.