{"id":"https://openalex.org/W2981136421","doi":"https://doi.org/10.1109/aim.2019.8868787","title":"Spatial-Semantic Fusion Network for Semantic Segmentation in Real-time","display_name":"Spatial-Semantic Fusion Network for Semantic Segmentation in Real-time","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981136421","doi":"https://doi.org/10.1109/aim.2019.8868787","mag":"2981136421"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100728882","display_name":"Fang Yu","orcid":"https://orcid.org/0000-0001-9670-0826"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fang Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065798768","display_name":"Xuehe Zhang","orcid":"https://orcid.org/0000-0001-8138-2802"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Xuehe","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836662","display_name":"He Zhang","orcid":"https://orcid.org/0000-0001-9049-4080"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang He","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108047615","display_name":"Gangfeng Liu","orcid":"https://orcid.org/0000-0003-0078-0281"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Gangfeng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108579445","display_name":"Li Changle","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Changle","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao Jie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin City, HeiLongJiang Province, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100728882"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.1012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44882116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"30","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.774446964263916},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.680271327495575},{"id":"https://openalex.org/keywords/pascal","display_name":"Pascal (unit)","score":0.6434006094932556},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6198537945747375},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.5586903095245361},{"id":"https://openalex.org/keywords/dilation","display_name":"Dilation (metric space)","score":0.5556386709213257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5407474040985107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5371983647346497},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.4700397849082947},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.44902053475379944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4483281373977661},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4480920433998108},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4062630534172058},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39058002829551697},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3520142436027527},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12370520830154419},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.12027442455291748},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11385264992713928},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.10237452387809753}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.774446964263916},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.680271327495575},{"id":"https://openalex.org/C75608658","wikidata":"https://www.wikidata.org/wiki/Q44395","display_name":"Pascal (unit)","level":2,"score":0.6434006094932556},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6198537945747375},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.5586903095245361},{"id":"https://openalex.org/C2780757906","wikidata":"https://www.wikidata.org/wiki/Q5276676","display_name":"Dilation (metric space)","level":2,"score":0.5556386709213257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5407474040985107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5371983647346497},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.4700397849082947},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.44902053475379944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4483281373977661},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4480920433998108},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4062630534172058},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39058002829551697},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3520142436027527},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12370520830154419},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.12027442455291748},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11385264992713928},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.10237452387809753},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2031489346","https://openalex.org/W2194775991","https://openalex.org/W2412782625","https://openalex.org/W2419448466","https://openalex.org/W2563705555","https://openalex.org/W2612445135","https://openalex.org/W2752782242","https://openalex.org/W2783000019","https://openalex.org/W2803097213","https://openalex.org/W2883780447","https://openalex.org/W2886934227","https://openalex.org/W2893890202","https://openalex.org/W2949117887","https://openalex.org/W2963125010","https://openalex.org/W2963418739","https://openalex.org/W2963420686","https://openalex.org/W2963881378","https://openalex.org/W2964309882","https://openalex.org/W4293406525","https://openalex.org/W4297775537","https://openalex.org/W6717372056","https://openalex.org/W6737664043","https://openalex.org/W6748481559","https://openalex.org/W6753767121"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W2988126442","https://openalex.org/W1974414866","https://openalex.org/W2069133146","https://openalex.org/W2051113792","https://openalex.org/W4287548622","https://openalex.org/W3173347409"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,84],"real-time":[4],"semantics":[5],"segmentation":[6],"algorithm":[7,66],"for":[8],"mobile":[9,95],"terminals":[10],"such":[11],"as":[12],"robots":[13],"is":[14],"proposed,":[15],"which":[16],"captures":[17],"large-scale":[18],"and":[19,26,55,77],"small-scale":[20],"features":[21],"respectively":[22],"by":[23,38],"using":[24,39],"convolution":[25,28],"dilation":[27],"to":[29,82,93],"obtain":[30],"spatial":[31,53],"information.":[32],"It":[33,42,89],"can":[34,90],"get":[35],"semantic":[36,48],"information":[37],"decode-encode":[40],"structure.":[41],"contains":[43],"two":[44,59],"branches,":[45],"one":[46],"extracts":[47,52],"information,":[49,54],"the":[50,58,71],"other":[51],"finally":[56],"fuses":[57],"branches":[60],"together":[61],"through":[62],"self-attention":[63],"method.":[64],"Our":[65],"achieves":[67],"71.3%":[68],"mIoU":[69],"on":[70],"Pascal":[72],"VOC":[73],"2012":[74],"data":[75],"sets,":[76],"it":[78],"takes":[79],"only":[80],"16ms":[81],"infer":[83],"480*640":[85],"picture":[86],"in":[87],"GTX1080Ti.":[88],"be":[91],"applied":[92],"most":[94],"robot":[96],"platforms.":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
