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arXiv Computer Vision By Daojie Peng, Bingtao Wang, Fulong Ma, Liang Zhang, Jun Ma

LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation

Read the original on arXiv Computer Vision →

LiteViLNet is a lightweight RGB‑geometry fusion network for road segmentation that uses a MobileNetV3 RGB encoder and a tiny depth‑wise‑separable geometry encoder. Its multi‑scale fusion module enhances modality‑specific features, performs cross‑modal interaction, and applies adaptive gating, while a depth‑wise large‑kernel bridge expands contextual support with minimal overhead. The U‑Net‑style decoder is trained with deep supervision, achieving state‑of‑the‑art performance on KITTI and ORFD benchmarks and running at up to 68.73 FPS on a Jetson Orin NX with TensorRT FP16.

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