Table 2. Real time performance comparison.
| Algorithm name | Parameter quantity/M | FPS | MIoU |
|---|---|---|---|
| FCN | 13.2 | 1.43 | 0.786 |
| ACU-Net | 11.3 | 7,1 | 0.801 |
| ATU-Net | 9.2 | 9.2 | 0.811 |
| SegNet | 4.8 | 40.88 | 0.818 |
| ENet | 29.5 | 12.67 | 0.827 |
| Ours | 10.1 | 26.29 | 0.939 |
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