  For real-time semantic segmentation, how to increase the speed while
maintaining high resolution is a problem that has been discussed and solved.
Backbone design and fusion design have always been two essential parts of
real-time semantic segmentation. We hope to design a light-weight network based
on previous design experience and reach the level of state-of-the-art real-time
semantic segmentation without any pre-training. To achieve this goal, a
encoder-decoder architectures are proposed to solve this problem by applying a
decoder network onto a backbone model designed for real-time segmentation tasks
and designed three different ways to fuse semantics and detailed information in
the aggregation phase. We have conducted extensive experiments on two semantic
segmentation benchmarks. Experiments on the Cityscapes and CamVid datasets show
that the proposed FRFNet strikes a balance between speed calculation and
accuracy. It achieves 72% Mean Intersection over Union (mIoU%) on the
Cityscapes test dataset with the speed of 144 on a single RTX 1080Ti card. The
Code is available at https://github.com/favoMJ/FRFNet.
