Light Semantic Segmentation

Approch of this project is implementing light weight semantic segmentation model which has the least inference time as possible on cpu that we use on humanoid soccer robots. Also network architecture has been inspired from our last team project.

How to use

first of all you have to prepare suitable semantic dataset as images and labels files in dataset directory like bellow :

datase/
  |_ seri1:
    |_ /images/
    |_ /labels/
  |_ seri2:
    |_ /images/
    |_ /labels/
  ...

Then you have to set your configuration in config file and intiate your semantic color-map.

Notice : if you don't have reach dataset, you would use repeat option in augmentation data_provider file :

train_dataset = train_dataset.repeat(60)
repeat dataset 60 times !!

Save Model Hint !

in tensorflow version 2.16.0 and above, keras kernel updates into version 3 and it limit us to save models only in .h5 or .keras format; so as i wanna inference on cpp and cppflow, i need to save as tf format .pb as keras v2 in order to load in cppflow inferencer.
try to install also keras v2 :

pip install tf-keras~=2.16

then in directory of your project set env :

export TF_USE_LEGACY_KERAS=1

in main code you would change formats as you wish :

model.save("save/path", save_format='tf') # for keras v2
model.save("model.h5") # or may .keras for keras v3

Finally try to run main.py as trainer file to store trained model into that specific folder which you set in main.py.

Citation

@software{Mahdi_SegLight_Light_Semantic,
  author = {Mahdi, Zeinali},
  title = {{SegLight (Light Semantic Segmentation For Humanoid Soccer Robots)}},
  url = {https://github.com/mahdizynali/SegLight},
  version = {1.0}
}