Fast Semantic Segmentation for Scene Perception
Why this work is in the frame
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Bibliographic record
Abstract
Semantic segmentation is a challenging problem in computer vision. Many applications, such as autonomous driving and robot navigation with urban road scene, need accurate and efficient segmentation. Most state-of-the-art methods focus on accuracy, rather than efficiency. In this paper, we propose a more efficient neural network architecture, which has fewer parameters, for semantic segmentation in the urban road scene. An asymmetric encoder-decoder structure based on ResNet is used in our model. In the first stage of encoder, we use continuous factorized block to extract low-level features. Continuous dilated block is applied in the second stage, which ensures that the model has a larger view field, while keeping the model small-scale and shallow. The down sampled features from encoder are up sampled with decoder to the same-size output as the input image and the details refined. Our model can achieve end-to-end and pixel-to-pixel training without pretraining from scratch. The parameters of our model are only 0.2M, 100× less than those of others such as SegNet, etc. Experiments are conducted on five public road scene datasets (CamVid, CityScapes, Gatech, KITTI Road Detection, and KITTI Semantic Segmentation), and the results demonstrate that our model can achieve better performance.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it