Self-Attention blocks in UNet and FCN for accurate semantic segmentation of difficult object classes in autonomous driving
Bibliographic record
Abstract
Deep learning has been widely used in computer vision applications and one of the recent breakthroughs in this field is the use of attention modules. Present models, to the best of our knowledge, are not accurate enough in terms of distinguishing difficult object classes like pedestrians and bicycles in street scenes. In this paper, we proposed the use of self-attention blocks in the encoder section of UNet and FCN with the aim of improving the performance of the models in segmenting difficult object classes. The proposed SA-UNet and SA-FCN models excel in detecting critical object classes, providing better insights into street scenes, and improving the safety of pedestrians and drivers in autonomous driving systems. We tested our proposed models on the Cityscape Dataset, and the experimental results show that our proposed models improved the IoU score by 0.1 in FCN-32 when self-attention was deployed. Similarly, in UNet, the IoU was improved by 5 percent with the attention block. Also, the visual representation of the output images demonstrates how the self-attention block in the encoder of the model can improve accuracy in detecting occluded yet important classes like Pedestrian.
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How this classification was reachedexpand
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 | 0.000 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".