Semantic segmentation and depth estimation are crucial components in the field of autonomous driving for scene understanding. Jointly learning these tasks can lead to a better understanding of scenarios. However, using task-specific networks to extract global features from task-shared networks can be inadequate. To address this issue, we propose a multi-task residual attention network (MTRAN) that consists of a global shared network and two attention networks dedicated to semantic segmentation and depth estimation. The convolutional block attention module is used to highlight the global feature map, and residual connections are added to prevent network degradation problems. To ensure manageable task loss and prevent specific tasks from dominating the training process, we introduce a random-weighted strategy into the impartial multi-task learning method. We conduct experiments to demonstrate the effectiveness of the proposed method.
Keywords: Semantic segmentation; depth estimation; gradient balance; residual attention.