99446 20220405150418.0 doi 10.1109/TRO.2020.2974099 sideral 117975 ART-2020-117975 eng Alonso, Íñigo Universidad de Zaragoza (orcid)0000-0003-4638-4655 MiniNet: An Efficient Semantic Segmentation ConvNet for Real-Time Robotic Applications 2020 Access copy available to the general public Unrestricted Efficient models for semantic segmentation, in terms of memory, speed, and computation, could boost many robotic applications with strong computational and temporal restrictions. This article presents a detailed analysis of different techniques for efficient semantic segmentation. Following this analysis, we have developed a novel architecture, MiniNet-v2, an enhanced version of MiniNet. MiniNet-v2 is built considering the best option depending on CPU or GPU availability. It reaches comparable accuracy to the state-of-the-art models but uses less memory and computational resources. We validate and analyze the details of our architecture through a comprehensive set of experiments on public benchmarks (Cityscapes, Camvid, and COCO-Text datasets), showing its benefits over relevant prior work. Our experiments include a sample application where these models can boost existing robotic applications. info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/ES/MCIU-AEI/RTC-2017-6421-7 info:eu-repo/grantAgreement/ES/MICIU-FEDER/PGC2018-098817-A-I00 info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.567 2020 ROBOTICS 4 / 28 = 0.143 2020 Q1 T1 2.027 2020 Computer Science Applications 2020 Q1 Electrical and Electronic Engineering 2020 Q1 Control and Systems Engineering 2020 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Riazuelo, Luis Universidad de Zaragoza (orcid)0000-0002-6722-5541 Murillo, Ana C. Universidad de Zaragoza (orcid)0000-0002-7580-9037 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 36, 4 (2020), 1340 - 1347 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 4358553 http://zaguan.unizar.es/record/99446/files/texto_completo.pdf Postprint 3112159 http://zaguan.unizar.es/record/99446/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:99446 articulos driver 2022-04-05-14:38:24 ARTICLE