{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/characterization-of-semantic-segmentation","title":"Characterization of Semantic Segmentation Models on Mobile Platforms for Self-Navigation in Disaster-Struck Zones","arxiv_id":"2202.01421","date":"2022-02-03","proceeding":null,"authors":["Ryan Zelek","Hyeran Jeon"],"abstract":"The role of unmanned vehicles for searching and localizing the victims in disaster impacted areas such as earthquake-struck zones is getting more important. Self-navigation on an earthquake zone has a unique challenge of detecting irregularly shaped obstacles such as road cracks, debris on the streets, and water puddles. In this paper, we characterize a number of state-of-the-art FCN models on mobile embedded platforms for self-navigation at these sites containing extremely irregular obstacles. We evaluate the models in terms of accuracy, performance, and energy efficiency. We present a few optimizations for our designed vision system. Lastly, we discuss the trade-offs of these models for a couple of mobile platforms that can each perform self-navigation. To enable vehicles to safely navigate earthquake-struck zones, we compiled a new annotated image database of various earthquake impacted regions that is different than traditional road damage databases. We train our database with a number of state-of-the-art semantic segmentation models in order to identify obstacles unique to earthquake-struck zones. Based on the statistics and tradeoffs, an optimal CNN model is selected for the mobile vehicular platforms, which we apply to both low-power and extremely low-power configurations of our design. To our best knowledge, this is the first study that identifies unique challenges and discusses the accuracy, performance, and energy impact of edge-based self-navigation mobile vehicles for earthquake-struck zones. Our proposed database and trained models are publicly available.","url_abs":"https://arxiv.org/abs/2202.01421v1","url_pdf":"https://arxiv.org/pdf/2202.01421v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"characterization-of-semantic-segmentation","repo_url":"https://gitlab.com/thor-auto1/thor-auto","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"navigate","task_name":"Navigate"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[{"method_slug":"convolution","method_name":"Convolution"},{"method_slug":"fcn","method_name":"FCN"},{"method_slug":"max-pooling","method_name":"Max Pooling"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}