Semantic segmentation of autonomous driving scenes based on multi-scale adaptive attention mechanism

Abstract

Introduction Semantic segmentation is a crucial visual representation learning task for autonomous driving systems, as it enables the perception of surrounding objects and road conditions to ensure safe and efficient navigation. Methods In this paper, we present a novel semantic segmentation approach for autonomous driving scenes using a Multi-Scale Adaptive Mechanism (MSAAM). The proposed method addresses the challenges associated with complex driving environments, including large-scale variations, occlusions, and diverse object appearances. Our MSAAM integrates multiple scale features and adaptively selects the most relevant features for precise segmentation. We introduce a novel attention module that incorporates spatial, channel-wise and scale-wise attention mechanisms to effectively enhance the discriminative power of features. Results The experimental results of the model on key objectives in the Cityscapes dataset are: ClassAvg:81.13, mIoU:71.46. The experimental results on comprehensive evaluation metrics are: AUROC:98.79, AP:68.46, FPR95:5.72. The experimental results in terms of computational cost are: GFLOPs:2117.01, Infer. Time (ms):61.06. All experimental results data are superior to the comparative method model. Discussion The proposed method achieves superior performance compared to state-of-the-art techniques on several benchmark datasets demonstrating its efficacy in addressing the challenges of autonomous driving scene understanding.