TSNet: Three-Stream Self-Attention Network for RGB-D Indoor Semantic Segmentation

This article proposes a three-stream self-attention network (TSNet) for indoor semantic segmentation comprising two asymmetric input streams (asymmetric encoder structure) and a cross-modal distillation stream with a self-attention module. The two asymmetric input streams are ResNet34 for the red-green-blue (RGB) stream and VGGNet16 for the depth stream. Accompanying the RGB and depth streams, a cross-modal distillation stream with a self- attention module extracts new RGB plus depth features in each level in the bottom-up path. In addition, while using bilinear upsampling to recover the spatial resolution of the feature map, we incorporated the feature information of both the RGB flow and the depth flow through the self-attention module. We constructed the NYU Depth V2 dataset to evaluate the TSNet and achieved results comparable to those of current state-of-the-art methods.