{"id":"https://openalex.org/W4405844667","doi":"https://doi.org/10.1109/tits.2024.3519162","title":"CSNet: Cross-Stage Subtraction Network for Real-Time Semantic Segmentation in Autonomous Driving","display_name":"CSNet: Cross-Stage Subtraction Network for Real-Time Semantic Segmentation in Autonomous Driving","publication_year":2024,"publication_date":"2024-12-27","ids":{"openalex":"https://openalex.org/W4405844667","doi":"https://doi.org/10.1109/tits.2024.3519162"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3519162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3519162","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-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/A5007529213","display_name":"Mohammed A. M. Elhassan","orcid":"https://orcid.org/0000-0003-3522-3055"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mohammed A. M. Elhassan","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0003-3522-3055","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Changjun Zhou","orcid":"https://orcid.org/0000-0002-0129-2231"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changjun Zhou","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0002-0129-2231","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Donglin Zhu","orcid":"https://orcid.org/0000-0001-9868-8103"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglin Zhu","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0001-9868-8103","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060644315","display_name":"Abuzar B. M. Adam","orcid":"https://orcid.org/0000-0002-9231-9734"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]},{"id":"https://openalex.org/I4405259781","display_name":"Interdisciplinary Centre for Security, Reliability and Trust","ror":"https://ror.org/02qav7c04","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Abuzar B. M. Adam","raw_affiliation_strings":["Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg City, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-9231-9734","affiliations":[{"raw_affiliation_string":"Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg City, Luxembourg","institution_ids":["https://openalex.org/I186903577","https://openalex.org/I4405259781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042166727","display_name":"Amina Benabid","orcid":"https://orcid.org/0009-0001-3600-9475"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Amina Benabid","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0009-0001-3600-9475","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043046865","display_name":"Ali Khan","orcid":"https://orcid.org/0000-0002-5364-645X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ali Khan","raw_affiliation_strings":["Department of Computer Science and Engineering, College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018354285","display_name":"Atif Mehmood","orcid":"https://orcid.org/0000-0002-8905-8510"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Atif Mehmood","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103417427","display_name":"Jun Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0001-7835-9871","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hu Jin","orcid":"https://orcid.org/0000-0002-3505-6843"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hu Jin","raw_affiliation_strings":["School of Electrical Engineering, Hanyang University, ERICA Campus, Ansan, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-3505-6843","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Hanyang University, ERICA Campus, Ansan, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084148795","display_name":"Sang-Woon Jeon","orcid":"https://orcid.org/0000-0002-0199-2254"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sang-Woon Jeon","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0002-0199-2254","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.832,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72326888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"26","issue":"3","first_page":"4093","last_page":"4108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9869999885559082,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9869999885559082,"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/T12016","display_name":"Web Data Mining and Analysis","score":0.9617000222206116,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6641400456428528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6212355494499207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5823827385902405},{"id":"https://openalex.org/keywords/background-subtraction","display_name":"Background subtraction","score":0.5543946027755737},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.5485329627990723},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4883234202861786},{"id":"https://openalex.org/keywords/subtraction","display_name":"Subtraction","score":0.4850460886955261},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11420410871505737},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11054122447967529},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.06840929388999939}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6641400456428528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6212355494499207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5823827385902405},{"id":"https://openalex.org/C32653426","wikidata":"https://www.wikidata.org/wiki/Q3813641","display_name":"Background subtraction","level":3,"score":0.5543946027755737},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.5485329627990723},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4883234202861786},{"id":"https://openalex.org/C68060419","wikidata":"https://www.wikidata.org/wiki/Q40754","display_name":"Subtraction","level":2,"score":0.4850460886955261},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11420410871505737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11054122447967529},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.06840929388999939},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3519162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3519162","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G264581686","display_name":null,"funder_award_id":"LD24F020004","funder_id":"https://openalex.org/F4320317779","funder_display_name":"Zhejiang\u00a0Provincial\u00a0Postdoctoral\u00a0Science\u00a0Foundation"}],"funders":[{"id":"https://openalex.org/F4320317779","display_name":"Zhejiang\u00a0Provincial\u00a0Postdoctoral\u00a0Science\u00a0Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2031489346","https://openalex.org/W2117539524","https://openalex.org/W2124592697","https://openalex.org/W2144794286","https://openalex.org/W2194775991","https://openalex.org/W2302255633","https://openalex.org/W2340897893","https://openalex.org/W2412782625","https://openalex.org/W2560023338","https://openalex.org/W2565639579","https://openalex.org/W2762439315","https://openalex.org/W2787091153","https://openalex.org/W2799166040","https://openalex.org/W2799213142","https://openalex.org/W2883780447","https://openalex.org/W2886934227","https://openalex.org/W2928165649","https://openalex.org/W2962772649","https://openalex.org/W2963073398","https://openalex.org/W2963136578","https://openalex.org/W2963319519","https://openalex.org/W2963418739","https://openalex.org/W2963419596","https://openalex.org/W2963728677","https://openalex.org/W2963840672","https://openalex.org/W2963857746","https://openalex.org/W2963890956","https://openalex.org/W2964217532","https://openalex.org/W2964444661","https://openalex.org/W2971198903","https://openalex.org/W2982083293","https://openalex.org/W3011933327","https://openalex.org/W3014641072","https://openalex.org/W3015280606","https://openalex.org/W3082097505","https://openalex.org/W3138516171","https://openalex.org/W3159640305","https://openalex.org/W3169865585","https://openalex.org/W3171275468","https://openalex.org/W3171398643","https://openalex.org/W3172265425","https://openalex.org/W3196904463","https://openalex.org/W4212821600","https://openalex.org/W4288771025","https://openalex.org/W4309819116","https://openalex.org/W4312726009","https://openalex.org/W4312815172","https://openalex.org/W4322706642","https://openalex.org/W4367051569","https://openalex.org/W4383503882","https://openalex.org/W4386076267","https://openalex.org/W4386824854","https://openalex.org/W4388579656","https://openalex.org/W4390968166","https://openalex.org/W4391595214","https://openalex.org/W4391640632","https://openalex.org/W4393156341","https://openalex.org/W4402703011","https://openalex.org/W4402715925","https://openalex.org/W4402716203"],"related_works":["https://openalex.org/W2188430267","https://openalex.org/W2610698896","https://openalex.org/W2369265144","https://openalex.org/W4244119470","https://openalex.org/W2554449009","https://openalex.org/W2730449274","https://openalex.org/W3177406559","https://openalex.org/W2016242113","https://openalex.org/W2547934522","https://openalex.org/W3100796443"],"abstract_inverted_index":{"Learning":[0],"multi-scale":[1,94],"feature":[2,73],"representations":[3,23,36,54,95],"is":[4],"essential":[5],"for":[6,146,156,229,250],"dense":[7],"prediction":[8],"tasks":[9],"in":[10,59,234,243],"autonomous":[11,235],"driving.":[12],"Most":[13],"existing":[14],"works":[15],"are":[16,24,55],"based":[17],"on":[18,137,200,215],"U-shaped":[19],"architectures,":[20],"where":[21],"high-resolution":[22,111],"progressively":[25],"recovered":[26],"by":[27],"connecting":[28],"different":[29,181],"levels":[30],"of":[31,128],"the":[32,38,60,167,201,216,223,227],"decoder":[33],"with":[34],"low-resolution":[35],"from":[37,45,52],"encoder.":[39],"We":[40],"observed":[41],"that":[42,89,222],"rich":[43],"details":[44],"low-level":[46],"representation":[47],"and":[48,92,151,160,176,206,210,241],"high":[49],"semantic":[50,93,191,232],"information":[51,158],"high-level":[53],"not":[56],"fully":[57],"utilized":[58],"cross-stage":[61,86,122],"fusion":[62],"process.":[63],"Additionally,":[64,164],"current":[65],"architectures":[66],"often":[67],"struggle":[68],"to":[69,105,174],"extract":[70],"efficient":[71],"discriminative":[72,110],"along":[74],"object":[75],"boundaries.":[76],"To":[77],"address":[78],"this":[79,251],"issue,":[80],"we":[81,119,165],"propose":[82,166],"CSNet,":[83],"a":[84,121,132],"generic":[85],"subtraction":[87,123,182],"network":[88],"extracts":[90],"spatial":[91],"through":[96],"guided":[97],"contextual":[98,178],"feature.":[99],"This":[100],"approach":[101],"allows":[102],"fine-grained":[103],"features":[104,112,149],"refine":[106],"deeper":[107],"layers,":[108],"capturing":[109,138],"while":[113,204],"filtering":[114],"out":[115],"redundant":[116,157],"information.":[117],"Specifically,":[118],"introduce":[120],"module":[124,173],"(CSM),":[125],"which":[126],"consists":[127],"three":[129],"sub-modules:":[130],"1)":[131],"Short":[133],"Path":[134,144,154],"Unit,":[135],"focusing":[136],"complementary":[139],"adjacent":[140],"information;":[141],"2)":[142],"Medium":[143],"Unit":[145,155],"effective":[147],"middle-stages":[148],"aggregation;":[150],"3)":[152],"Long":[153],"masking":[159],"long-range":[161],"context":[162],"modeling.":[163],"Semantic":[168],"Guided":[169],"Context":[170],"Reasoning":[171],"(SGCR)":[172],"reason":[175],"model":[177],"relations":[179],"between":[180],"units.":[183],"CSNet":[184,225],"demonstrates":[185],"consistent":[186],"performance":[187],"gains":[188],"across":[189],"various":[190],"segmentation":[192,233],"datasets.":[193],"Our":[194],"model,":[195],"CSNet-M,":[196],"achieves":[197],"82.2%":[198],"mIoU":[199,212],"Camvid":[202],"dataset,":[203],"CSNet-S":[205],"CSNet-M":[207],"attain":[208],"79.6%":[209],"80.5%":[211],"accuracy,":[213],"respectively,":[214],"Cityscapes":[217],"dataset.":[218],"These":[219],"results":[220],"show":[221],"proposed":[224],"has":[226],"potential":[228],"enhancing":[230],"real-time":[231],"driving":[236],"applications,":[237],"offering":[238],"improved":[239],"accuracy":[240],"efficiency":[242],"diverse":[244],"urban":[245],"scenarios.":[246],"The":[247],"source":[248],"code":[249],"work":[252],"will":[253],"be":[254],"published":[255],"at":[256],"<uri":[257],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[258],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/mohamedac29/CSNet</uri>.":[259]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}