Table 3.

Tested FCNNs and the corresponding times of inference for each single frame, expressed in milliseconds (ms).

FCNNs	Inference time per frame (ms)
U-Net	∼115
U-Net 3	∼96
ResNet with 4x2 blocks, 16 filters	∼66
ResNet with 1x2 blocks, 8 filters	∼14
ResNet with 1x2 blocks, 16 filters	∼23
ResNet with 3x2 blocks, 16 filters	∼59
ResNet with 5x2 blocks, 16 filters	∼59