EPSSNet

Abstract

Fast and accurate segmentation is important for robot judgement, e.g. robot detection, segmentation, and control. Most researchers have focused on deploying lightweight semantic segmentation models into robot services. The problem is that the critical interaction between semantic segmentation and boundaries is ignored. In this chapter, the authors propose a lightweight parallel execution model (EPSSNet) based on semantic flow branch (SFB), edge flow branch (EFB) and self-adapting weighting fusion (SAWF) for mobile robot service projects. The semantic flow branching module is used to obtain accurate object shape features. The boundary constraint module uses multiple convolution and upsampling to distinguish boundary features from semantic features. In order to adaptively fuse boundary features with semantic segmentation features, the SAWF is proposed. It adaptively fuses semantic and boundary features by learning boundary and semantic feature fusion weights. Detailed experimental results on Cityscapes, Pascal VOC 2012 and ADE20k datasets demonstrate the superior performance of our approach.