Sharif Digital Repository

In real-time semantic segmentation, images are divided into predefined semantic regions at a speed exceeding 30 frames per second, and each point of the image is labeled with a category. The output of this fundamental task is to produce a representation that is comprehensible to computers for further processing in applications such as autonomous vehicles, robotics, and augmented reality. This task pursues two conflicting goals: improving the accuracy of segmentation and increasing its speed. Previous research has enhanced segmentation speed using lightweight and multi-branch structures and improved accuracy using attention mechanisms. Depth map alongside color image can lead to better...