Recently, transformer-based networks have shown impressive results in semantic segmentation. Yet for real-time semantic segmentation, pure CNN-based approaches still dominate in this field, due to the time-consuming computation mechanism of transformer. We propose RTFormer, an efficient dual-resolution transformer for real-time semantic segmenation, which achieves better trade-off between performance and efficiency than CNN-based models. To achieve high inference efficiency on GPU-like devices, our RTFormer leverages GPU-Friendly Attention with linear complexity and discards the multi-head mechanism. Besides, we find that cross-resolution attention is more efficient to gather global context information for high-resolution branch by spreading the high level knowledge learned from low-resolution branch. Extensive experiments on mainstream benchmarks demonstrate the effectiveness of our proposed RTFormer, it achieves state-of-the-art on Cityscapes, CamVid and COCOStuff, and shows promising results on ADE20K.

Finally, feature-level alignment is performed between the aggregated domain and target domain while training the segmentation network.

We refer to the proposed solution as SA3D, for Segment Anything in 3D. It is only required to provide a manual segmentation prompt ( e.g., rough points) for the target object in a single view, which is used to generate its 2D mask in this view with SAM.