Cross-Modal Transformer for RGB-D semantic segmentation of production workshop objects

Scene understanding in a production workshop is an important technology to improve its intelligence level, semantic segmentation of production workshop objects is an effective method for realizing scene understanding. Since the varieties of information of production workshop, making full use of the complementary information of RGB image and depth image can effectively improve the semantic segmentation accuracy of production workshop objects. Aiming at solving the multi-scale and real-time problems of segmenting the production workshop objects, this paper proposes Cross-Modal Transformer (CMFormer), a Transformer-based cross-modal semantic segmentation model. Its key feature correction and feature fusion parts are composed of the Multi-Scale Channel Attention Correction(MS-CAC) module and the Global Feature Aggregation(GFA) module. By improving Multi Head Self-Attention(MHSA) in Transformer, we design Cross-Modal Multi-Head Self-Attention(CM-MHSA) to build long-range interaction between RGB image and depth image, and further design the MS-CAC module and the GFA module on the basis of the CM-MHSA module, to achieve cross-modal information interaction in the channel and spatial dimensions. Among them, the MS-CAC module enriches the multi-scale features of each channel and achieve more accurate channel attention correction between the two modals; the GFA module interacts with RGB feature and depth feature in the spatial dimension and fuses global and local features at the same time. In the experiments on the NYU Depth v2 dataset, the CMFormer reached 68.00% MPA(Mean Pixel Accuracy) and 55.75% mIoU(Mean Intersection over Union), achieves the state-of-the-art results. While in the experiments on the Scene Objects for Production workshop dataset(SOP), the CMFormer achieves 96.74% MPA, 92.98% mIoU and 43 FPS(Frames Per Second), which has high precision and good real-time performance. Code is available at: https://github.com/FutureIAI/CMFormer