# EGRNet: A Lightweight Semantic Segmentation Network with Edge-Gated Refinement and Adversarial Sensing

arXiv: https://arxiv.org/abs/2607.19617 · HTML: https://mlsanity.com/paper/2607.19617/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 29 references that are in the map.
- First posted on arXiv 21 Jul 2026.

## Builds on (most cited first, 15 of 15)

- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [DeepFool: a simple and accurate method to fool deep neural networks](https://mlsanity.com/paper/1511.04599/) (2015)
- [Universal adversarial perturbations](https://mlsanity.com/paper/1610.08401/) (2016)
- [Adversarial Patch](https://mlsanity.com/paper/1712.09665/) (2017)
- [Spatially Transformed Adversarial Examples](https://mlsanity.com/paper/1801.02612/) (2018)
- [EAD: Elastic-Net Attacks to Deep Neural Networks via Adversarial Examples](https://mlsanity.com/paper/1709.04114/) (2017)
- [Rethinking BiSeNet For Real-time Semantic Segmentation](https://mlsanity.com/paper/2104.13188/) (2021)
- [PIDNet: A Real-time Semantic Segmentation Network Inspired by PID Controllers](https://mlsanity.com/paper/2206.02066/) (2022)
- [DABNet: Depth-wise Asymmetric Bottleneck for Real-time Semantic Segmentation](https://mlsanity.com/paper/1907.11357/) (2019)
- [Lightweight Real-time Semantic Segmentation Network with Efficient Transformer and CNN](https://mlsanity.com/paper/2302.10484/) (2023)
- [CSRNet: Cascaded Selective Resolution Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/2106.04400/) (2021)
- [Depthwise Separable Convolutions with Deep Residual Convolutions](https://mlsanity.com/paper/2411.07544/) (2024)

## Abstract (arXiv)

As autonomous systems and smart cities continue to evolve, the demand for efficient and robust scene understanding becomes increasingly critical. Semantic segmentation plays a key role in enabling autonomous vehicles to comprehend complex urban environments. However, achieving high accuracy with minimal computational cost remains a significant challenge. In this paper, we present Edge-Gated Refinement Network (EGRNet), a lightweight and efficient deep learning model designed for real-time semantic segmentation in urban scenarios. The model incorporates depthwise separable convolutions to reduce computational complexity and dilated residual blocks for capturing rich multi-scale contextual information. Additionally, we introduce a novel Edge-Gated Refinement (EGR) module, which adaptively fuses original and refined features through a learnable gating mechanism, enhancing boundary preservation and edge-sensitive regions. To further improve feature representation, Squeeze-and-Excitation (SE) attention is applied across the network. With only 0.46M parameters, EGRNet achieves state-of-the-art performance while maintaining low computational overhead. When evaluated on the Cityscapes dataset, the model attains a mean Intersection over Union (mIoU) of 65.28%, demonstrating strong accuracy with minimal resource consumption. Moreover, we introduce a lightweight adversarial attack detection strategy, ensuring robustness against adversarial inputs without compromising real-time performance. By combining efficiency, accuracy, and resilience, EGRNet is well-suited for deployment on edge devices in safety-critical real-time applications.