Table 2.

Runtime and accuracy analysis of our architecture compared to other networks that are also designed for real-time applications in the state of the art. IoU: Intersection-over-Union, Fwt: Forward pass time. The runtime are tested on a cost-effective GPU GTX1050Ti.

Architectures	IoU on ADE20K [57]	Fwt at 320 × 240	Fwt at 448 × 256	Fwt at 640 × 480
UNet [62]	28.5%	27 ms	43 ms	131 ms
SegNet [60]	55.6%	N/A	69 ms	178 ms
ENet [61]	58.4%	15 ms	17 ms	24 ms
SQNet [63]	55.5%	33 ms	44 ms	89 ms
LinkNet [67]	56.5%	N/A	14 ms	32 ms
ERFNet [65]	63.1%	15 ms	20 ms	44 ms
Our ERF-PSPNet	66.0%	13 ms	16 ms	34 ms