EfferDeepNet: An Efficient Semantic Segmentation Method for Outdoor Terrain

Abstract

The recognition of terrain and outdoor complex environments based on vision sensors is a key technology in practical robotics applications, and forms the basis of autonomous navigation and motion planning. While traditional machine learning methods can be applied to outdoor terrain recognition, their recognition accuracy is low. In order to improve the accuracy of outdoor terrain recognition, methods based on deep learning are widely used. However, the network structure of deep learning methods is very complex, and the number of parameters is large, which cannot meet the actual operating requirements of of unmanned systems. Therefore, in order to solve the problems of poor real-time performance and low accuracy of deep learning algorithms for terrain recognition, this paper proposes the efficient EfferDeepNet network for pixel level terrain recognition in order to realize global perception of outdoor environment. First, this method uses convolution kernels with different sizes in the depthwise separable convolution (DSC) stage to extract more semantic feature information. Then, an attention mechanism is introduced to weight the acquired features, focusing on the key local feature areas. Finally, in order to avoid redundancy due to a large number of features and parameters in the model, this method uses a ghost module to make the network more lightweight. In addition, to solve the problem of pixel level terrain recognition having a negative effect on image boundary segmentation, the proposed method integrates an enhanced feature extraction network. Experimental results show that the proposed EfferDeepNet network can quickly and accurately perform global recognition and semantic segmentation of terrain in complex environments.