{Zhiwei Li Maoke Yang Kun Yu Kuiyuan Yang Chi Zhang}

Abstract

Semantic image segmentation is a basic street scene understanding task in autonomous driving, where each pixel in a high resolution image is categorized into a set of semantic labels. Unlike other scenarios, objects in autonomous driving scene exhibit very large scale changes, which poses great challenges for high-level feature representation in a sense that multi-scale information must be correctly encoded. To remedy this problem, atrous convolutioncite{Deeplabv1} was introduced to generate features with larger receptive fields without sacrificing spatial resolution. Built upon atrous convolution, Atrous Spatial Pyramid Pooling (ASPP)cite{Deeplabv2} was proposed to concatenate multiple atrous-convolved features using different dilation rates into a final feature representation. Although ASPP is able to generate multi-scale features, we argue the feature resolution in the scale-axis is not dense enough for the autonomous driving scenario. To this end, we propose Densely connected Atrous Spatial Pyramid Pooling (DenseASPP), which connects a set of atrous convolutional layers in a dense way, such that it generates multi-scale features that not only cover a larger scale range, but also cover that scale range densely, without significantly increasing the model size. We evaluate DenseASPP on the street scene benchmark Cityscapescite{Cityscapes} and achieve state-of-the-art performance.