Table 6 Inference Speed test on NYUv2 Dataset.

From: Multi-scale fusion for RGB-D indoor semantic segmentation

Model

Backbone

MIoU (%)

Param (M)

FPS

RDF (2017)45

2ResNet101

49.1

169.1

11

ACNet (2019)27

2ResNet50

48.3

116.6

18

SGNet (2021)30

2ResNet50

47.7

39.3

39

ESANet (2021)37

2ResNet50

50.53

54.46

22.6

EMSANet (2022)48

2ResNet34

53.34

–

24.5

MSFNet (ours)

2ResNet50

52.23

48.64

24.7

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