Table 4. Experimental comparison among different methods on the CamVid dataset.

Model	Backbone	MIoU/%	Params/106
PSPNet [16]	ResNet-50	74.4	46.6
PSPNet [16]	ResNet-101	77.3	65.8
DeeplabV3+ [18]	ResNet-101	77.8	75.5
BiseNet [34]	ResNet-101	70.7	56.1
ICNet[33]	PSPNet-50	69.3	27.9
OCNet [35]	ResNet-101	72.2	95.4
ENCNet [10]	ResNet-50	71.5	36.7
PSANet[36]	ResNet-101	76.0	70.6
DenseASPP [13]	DenseNet-169	68.6	28.9
HRNet [25]	HRNetV2p-W48	76.1	65.1
STDC [32]		76.6	25.8
ECMNet (Ours)	AMFM	79.6	35.6