The performance comparison among 10 single-modal networks (FCN, SegNet, U-Net, PSPNet, DeepLabv3+, DenseASPP, UPerNet, DUpsampling, ESPNet and GSCNN) with 11 training data setups on our GMRP dataset, where the best result is highlighted in each subfigure.
The performance comparison among 4 data-fusion networks (FuseNet, MFNet, depth-aware CNN and RTFNet) and our DFM-RTFNet with 5 training data setups on our GMRP dataset, where D-A CNN is short for depth-aware CNN, and the best result is highlighted in each subfigure.