ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving
In intelligent vehicular networks, the accuracy of semantic segmentation in road scenes is crucial for vehicle-mounted artificial intelligence to achieve environmental perception, decision support, and safety control. Although deep learning methods have made significant progress, two main challenges...
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| Format: | Article |
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MDPI AG
2025-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/15/4776 |
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| author | Qiliang Zhang Kaiwen Hua Zi Zhang Yiwei Zhao Pengpeng Chen |
| author_facet | Qiliang Zhang Kaiwen Hua Zi Zhang Yiwei Zhao Pengpeng Chen |
| author_sort | Qiliang Zhang |
| collection | DOAJ |
| description | In intelligent vehicular networks, the accuracy of semantic segmentation in road scenes is crucial for vehicle-mounted artificial intelligence to achieve environmental perception, decision support, and safety control. Although deep learning methods have made significant progress, two main challenges remain: first, the difficulty in balancing global and local features leads to blurred object boundaries and misclassification; second, conventional convolutions have limited ability to perceive irregular objects, causing information loss and affecting segmentation accuracy. To address these issues, this paper proposes a global–local collaborative attention module and a spider web convolution module. The former enhances feature representation through bidirectional feature interaction and dynamic weight allocation, reducing false positives and missed detections. The latter introduces an asymmetric sampling topology and six-directional receptive field paths to effectively improve the recognition of irregular objects. Experiments on the Cityscapes, CamVid, and BDD100K datasets, collected using vehicle-mounted cameras, demonstrate that the proposed method performs excellently across multiple evaluation metrics, including mIoU, mRecall, mPrecision, and mAccuracy. Comparative experiments with classical segmentation networks, attention mechanisms, and convolution modules validate the effectiveness of the proposed approach. The proposed method demonstrates outstanding performance in sensor-based semantic segmentation tasks and is well-suited for environmental perception systems in autonomous driving. |
| format | Article |
| id | doaj-art-e7cd27de082c4f85b9e05a435b02c6fa |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-e7cd27de082c4f85b9e05a435b02c6fa2025-08-20T04:00:50ZengMDPI AGSensors1424-82202025-08-012515477610.3390/s25154776ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous DrivingQiliang Zhang0Kaiwen Hua1Zi Zhang2Yiwei Zhao3Pengpeng Chen4School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, ChinaIn intelligent vehicular networks, the accuracy of semantic segmentation in road scenes is crucial for vehicle-mounted artificial intelligence to achieve environmental perception, decision support, and safety control. Although deep learning methods have made significant progress, two main challenges remain: first, the difficulty in balancing global and local features leads to blurred object boundaries and misclassification; second, conventional convolutions have limited ability to perceive irregular objects, causing information loss and affecting segmentation accuracy. To address these issues, this paper proposes a global–local collaborative attention module and a spider web convolution module. The former enhances feature representation through bidirectional feature interaction and dynamic weight allocation, reducing false positives and missed detections. The latter introduces an asymmetric sampling topology and six-directional receptive field paths to effectively improve the recognition of irregular objects. Experiments on the Cityscapes, CamVid, and BDD100K datasets, collected using vehicle-mounted cameras, demonstrate that the proposed method performs excellently across multiple evaluation metrics, including mIoU, mRecall, mPrecision, and mAccuracy. Comparative experiments with classical segmentation networks, attention mechanisms, and convolution modules validate the effectiveness of the proposed approach. The proposed method demonstrates outstanding performance in sensor-based semantic segmentation tasks and is well-suited for environmental perception systems in autonomous driving.https://www.mdpi.com/1424-8220/25/15/4776semantic segmentationdeep learningattention mechanismconvolutionvehicle-mounted camerasautonomous driving |
| spellingShingle | Qiliang Zhang Kaiwen Hua Zi Zhang Yiwei Zhao Pengpeng Chen ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving Sensors semantic segmentation deep learning attention mechanism convolution vehicle-mounted cameras autonomous driving |
| title | ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving |
| title_full | ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving |
| title_fullStr | ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving |
| title_full_unstemmed | ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving |
| title_short | ACNet: An Attention–Convolution Collaborative Semantic Segmentation Network on Sensor-Derived Datasets for Autonomous Driving |
| title_sort | acnet an attention convolution collaborative semantic segmentation network on sensor derived datasets for autonomous driving |
| topic | semantic segmentation deep learning attention mechanism convolution vehicle-mounted cameras autonomous driving |
| url | https://www.mdpi.com/1424-8220/25/15/4776 |
| work_keys_str_mv | AT qiliangzhang acnetanattentionconvolutioncollaborativesemanticsegmentationnetworkonsensorderiveddatasetsforautonomousdriving AT kaiwenhua acnetanattentionconvolutioncollaborativesemanticsegmentationnetworkonsensorderiveddatasetsforautonomousdriving AT zizhang acnetanattentionconvolutioncollaborativesemanticsegmentationnetworkonsensorderiveddatasetsforautonomousdriving AT yiweizhao acnetanattentionconvolutioncollaborativesemanticsegmentationnetworkonsensorderiveddatasetsforautonomousdriving AT pengpengchen acnetanattentionconvolutioncollaborativesemanticsegmentationnetworkonsensorderiveddatasetsforautonomousdriving |