# Scale Invariant Semantic Segmentation with RGB-D Fusion

arXiv: https://arxiv.org/abs/2204.04679 · HTML: https://mlsanity.com/paper/2204.04679/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 25 of its 34 references that are in the map.
- First posted on arXiv 10 Apr 2022.

## Builds on (most cited first, 25 of 25)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (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)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [RefineNet: Multi-Path Refinement Networks for High-Resolution Semantic Segmentation](https://mlsanity.com/paper/1611.06612/) (2016)
- [Learning Deconvolution Network for Semantic Segmentation](https://mlsanity.com/paper/1505.04366/) (2015)
- [OverFeat: Integrated Recognition, Localization and Detection using Convolutional Networks](https://mlsanity.com/paper/1312.6229/) (2013)
- [Attention to Scale: Scale-aware Semantic Image Segmentation](https://mlsanity.com/paper/1511.03339/) (2015)
- [Understanding Convolution for Semantic Segmentation](https://mlsanity.com/paper/1702.08502/) (2017)
- [Indoor Semantic Segmentation using depth information](https://mlsanity.com/paper/1301.3572/) (2013)
- [CNN-based Segmentation of Medical Imaging Data](https://mlsanity.com/paper/1701.03056/) (2017)
- [MatConvNet - Convolutional Neural Networks for MATLAB](https://mlsanity.com/paper/1412.4564/) (2014)
- [Pushing the Boundaries of Boundary Detection using Deep Learning](https://mlsanity.com/paper/1511.07386/) (2015)
- [Scalable Object Detection using Deep Neural Networks](https://mlsanity.com/paper/1312.2249/) (2013)
- [Recurrent Scene Parsing with Perspective Understanding in the Loop](https://mlsanity.com/paper/1705.07238/) (2017)

## Abstract (arXiv)

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which consists of different scale objects due to the distance of the objects from the camera. The near distance objects consist of significantly more pixels than the far ones. We propose to incorporate depth information to the RGB data for pixel-wise semantic segmentation to address the different scale objects in an outdoor scene. We adapt to a well-known DeepLab-v2(ResNet-101) model as our RGB baseline. Depth images are passed separately as an additional input with a distinct branch. The intermediate feature maps of both color and depth image branch are fused using a novel fusion block. Our model is compact and can be easily applied to the other RGB model. We perform extensive qualitative and quantitative evaluation on a challenging dataset Cityscapes. The results obtained are comparable to the state-of-the-art. Additionally, we evaluated our model on a self-recorded real dataset. For the shake of extended evaluation of a driving scene with ground truth we generated a synthetic dataset using popular vehicle simulation project CARLA. The results obtained from the real and synthetic dataset shows the effectiveness of our approach.