HMSNet: Hilbert curve enhanced Mamba for real-time semantic segmentation

Semantic segmentation is a core technology for vehicle perception of the surrounding environment in autonomous driving. However, existing real-time semantic segmentation models face two major challenges: loss of local detail information and inconsistency of intra-class semantic information. To address these issues, we propose a novel network architecture, HMSNet. The network mainly consists of the following three core modules: the Hilbert curve enhanced Visual Mamba Block (HVM Block), Selective Attention Fusion Module (SAFM), and Multi-scale Context-Aware Module (MCAM). The HVM Block utilizes the Hilbert curve to reduce the dimensionality of two-dimensional images and applies a selective scanning algorithm in Mamba, enabling the network to effectively capture local dependencies while maintaining a global receptive field, thereby optimizing the consistency of intra-class semantic information. The SAFM module effectively merges local detail information from shallow networks with global semantic information from deep networks, alleviating the problem of local detail information loss. Finally, the MCAM module, introduced at the end of the network, enhances the model,s ability to judge contextual information, thereby improving segmentation accuracy. Experimental results show that HMSNet achieves an excellent balance between segmentation accuracy and inference speed on challenging public datasets, including CamVid, Cityscapes, and ADE20K.