A hybrid multi-modal visual data cross fusion network for indoor and outdoor segmentation
Abstract
Multi-modal scene parsing is a prevalent topic in robotics and autonomous driving since the knowledge of different modalities can complement each other. Recently, the success of self-attention-based methods has demonstrated the effectiveness of capturing long-range dependencies. However, the tremendous cost dramatically limits the application of this idea in multi-modal fusion. To alleviate this problem, this paper designs a multimodal cross-fusion block (AC) and its elegant variant (EAC) based on an additive attention mechanism to capture global awareness among different modalities efficiently. Moreover, a simple yet efficient transformer-based trans-context block (TC) is also presented to connect the contextual information. Based on the above components, we propose light HCFNet, which can explore long-range dependencies of multi-modal information while keeping local details. Finally, we conduct comprehensive experiments and analyses on both indoor (NYUv2-13,-40) and outdoor (Cityscapes-11) datasets. Experiment results show that the proposed HCFNet achieved 66.9% and 51.5% mIoU on NYUv2-13 and-40 classes settings, which outperform current start-of-the-art multi-model methods. Our model also shows a competitive mIoU of 80.6% on the Cityscapes-11 dataset. The code will be available at https://github.com/Superjie13/HCFNet.
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