TABLE I:

The details for the layers of the encoder (Enc), Localization decoder (Dec − L), and Denoising decoder (Dec−D). The size of the PA input is 256*1024. The definition of encoder in our work is slightly different with [35]’s as we consider layer 7 belonging to the encoder and its output is considered as the shared input for decoders. Each layer for decoders consists of a residual and upsampling module except for the last layer which is a simple convolutional layer and all of these layers benefit from the skip connections of their corresponding layer in the encoder.

Layers	Number of Kernels/feature maps	Size of output feature maps	Layers	Number of Kernels/feature maps	Size of output feature maps	Layers	Number of Kernels/feature maps	Size of output feature maps
Layer1Enc	16	256*1024	Layer8Dec−L	256	16*32	Layer8DecD	256	16*32
Layer2Enc	16	256*512	Layer9Dec−L	128	32*64	Layer9Dec−D	128	32*64
Layer3Enc	32	128*256	Layer10Dec−L	64	64*128	Layer10Dec−D	64	64*128
Layer4Enc	64	64*128	Layer11Dec−L	32	128*256	Layer11Dec−D	32	128*256
Layer5Enc	128	32*64	Layer12Dec−L	16	256*512	Layer12Dec−D	16	256*512
Layer6Enc	256	16*32	Layer13Dec−L	1	256*512	Layer13Dec−D	8	512*1024
Layer7Enc	256	8*16				Layer14Dec−D	1	256*1024