# Global-Local Propagation Network for RGB-D Semantic Segmentation

arXiv: https://arxiv.org/abs/2101.10801 · HTML: https://mlsanity.com/paper/2101.10801/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 19 references that are in the map.
- First posted on arXiv 26 Jan 2021.

## Builds on (most cited first, 12 of 12)

- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [PAD-Net: Multi-Tasks Guided Prediction-and-Distillation Network for Simultaneous Depth Estimation and Scene Parsing](https://mlsanity.com/paper/1805.04409/) (2018)
- [Pattern-Affinitive Propagation across Depth, Surface Normal and Semantic Segmentation](https://mlsanity.com/paper/1906.03525/) (2019)
- [Semantic Flow for Fast and Accurate Scene Parsing](https://mlsanity.com/paper/2002.10120/) (2020)
- [Learning Rich Features from RGB-D Images for Object Detection and Segmentation](https://mlsanity.com/paper/1407.5736/) (2014)
- [Bi-directional Cross-Modality Feature Propagation with Separation-and-Aggregation Gate for RGB-D Semantic Segmentation](https://mlsanity.com/paper/2007.09183/) (2020)
- [ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation](https://mlsanity.com/paper/1905.10089/) (2019)
- [Depth-aware CNN for RGB-D Segmentation](https://mlsanity.com/paper/1803.06791/) (2018)
- [RedNet: Residual Encoder-Decoder Network for indoor RGB-D Semantic Segmentation](https://mlsanity.com/paper/1806.01054/) (2018)
- [Spatial Information Guided Convolution for Real-Time RGBD Semantic Segmentation](https://mlsanity.com/paper/2004.04534/) (2020)

## Built on by (most cited first, 3 of 3)

- [TriTransNet: RGB-D Salient Object Detection with a Triplet Transformer Embedding Network](https://mlsanity.com/paper/2108.03990/) (2021)
- [HaarNet: Large-scale Linear-Morphological Hybrid Network for RGB-D Semantic Segmentation](https://mlsanity.com/paper/2310.07669/) (2023)
- [Project-and-Fuse: Improving RGB-D Semantic Segmentation via Graph Convolution Networks](https://mlsanity.com/paper/2501.18851/) (2025)

## Abstract (arXiv)

Depth information matters in RGB-D semantic segmentation task for providing additional geometric information to color images. Most existing methods exploit a multi-stage fusion strategy to propagate depth feature to the RGB branch. However, at the very deep stage, the propagation in a simple element-wise addition manner can not fully utilize the depth information. We propose Global-Local propagation network (GLPNet) to solve this problem. Specifically, a local context fusion module(L-CFM) is introduced to dynamically align both modalities before element-wise fusion, and a global context fusion module(G-CFM) is introduced to propagate the depth information to the RGB branch by jointly modeling the multi-modal global context features. Extensive experiments demonstrate the effectiveness and complementarity of the proposed fusion modules. Embedding two fusion modules into a two-stream encoder-decoder structure, our GLPNet achieves new state-of-the-art performance on two challenging indoor scene segmentation datasets, i.e., NYU-Depth v2 and SUN-RGBD dataset.