计算机工程2026，Vol.52Issue(8)：33-45,13.DOI:10.19678/j.issn.1000-3428.0253402
面向非结构化道路的轻量化轴向上下文分割网络
Lightweight Axial Context Segmentation Network for Unstructured Road
摘要
Abstract
Unstructured road segmentation is a crucial component of environmental perception for autonomous driving systems,and it suffers from challenges such as the integrity of global topological modeling,preservation of boundary details,and trade-off between model efficiency and accuracy.To address these challenges,this paper proposes a lightweight axial context network AXON-Net.The network employs an encoder-decoder architecture and introduces a Channel And Spatial Attention Block(CASAB)in the encoder,which adaptively recalibrates feature weights by aggregating multidimensional statistical information to effectively suppress environmental noise,thereby enhancing feature discriminability in complex backgrounds.A Lightweight Partial Context(LightPCT)model is integrated at the bottleneck,utilizing a partial channel interaction strategy to reduce computational redundancy and efficiently capture long-range dependencies for restoring road topological connectivity.In addition,the decoder integrates Dual-Path Channel Fusion(DPCF)and Thin Structure Enhancer(TSE)modules for bridging the feature semantic gap and explicitly enhancing axial geometric features for the refined recovery of blurred road edges.Experimental results on unstructured road datasets constructed from the India Driving Dataset(IDD)and Off-Road Freespace Detection(ORFD)dataset show that AXON-Net achieves road Intersection over Union(IoU_Road)scores of 95.3％and 88.1％,respectively.With only 8.49 × 103 parameters,it achieves a superior balance between segmentation accuracy and model efficiency.Ablation studies further validate the synergistic effectiveness of the proposed modules,demonstrating the potential application of the network for unstructured road perception tasks.关键词
非结构化道路/轴向上下文/通道-空间注意力/细结构增强/长程依赖Key words
unstructured road/axial context/channel and spatial attention/Thin Structure Enhancer(TSE)/long-range dependencies分类
信息技术与安全科学引用本文复制引用
曹福,邢雯彬,左勇,张荣辉,陈俊周..面向非结构化道路的轻量化轴向上下文分割网络[J].计算机工程,2026,52(8):33-45,13.基金项目
国家自然科学基金(52172350,W2421069) （52172350,W2421069）
广州市重点研发计划(2024B01W0079) （2024B01W0079）
深圳市科技攻关面上项目(JSGG20210802153412036). （JSGG20210802153412036）
