Semantic image segmentation is an essential component of modern autonomous
driving systems, as an accurate understanding of the surrounding scene is
crucial to navigation and action planning. Current state-of-the-art approaches
in semantic image segmentation rely on pre-trained networks that were initially
developed for classifying images as a whole. While these networks exhibit
outstanding recognition performance (i.e., what is visible?), they lack
localization accuracy (i.e., where precisely is something located?). Therefore,
additional processing steps have to be performed in order to obtain
pixel-accurate segmentation masks at the full image resolution. To alleviate
this problem we propose a novel ResNet-like architecture that exhibits strong
localization and recognition performance. We combine multi-scale context with
pixel-level accuracy by using two processing streams within our network: One
stream carries information at the full image resolution, enabling precise
adherence to segment boundaries. The other stream undergoes a sequence of
pooling operations to obtain robust features for recognition. The two streams
are coupled at the full image resolution using residuals. Without additional
processing steps and without pre-training, our approach achieves an
intersection-over-union score of 71.8% on the Cityscapes dataset.

提出了一种 ResNet-like 的网络结构，结合多尺度上下文信息和像素级精确度，使得在不需要额外处理步骤和预训练的情况下，可以在 Cityscapes 数据集上实现 71.8％ 的交并比得分，以提高自动驾驶系统中的图像分割效果。