Ming Liu

CV
h-index28
23papers
1,388citations
Novelty45%
AI Score34

23 Papers

8.8CVJul 12, 2022Code
Learning Diverse Tone Styles for Image Retouching

Haolin Wang, Jiawei Zhang, Ming Liu et al.

Image retouching, aiming to regenerate the visually pleasing renditions of given images, is a subjective task where the users are with different aesthetic sensations. Most existing methods deploy a deterministic model to learn the retouching style from a specific expert, making it less flexible to meet diverse subjective preferences. Besides, the intrinsic diversity of an expert due to the targeted processing on different images is also deficiently described. To circumvent such issues, we propose to learn diverse image retouching with normalizing flow-based architectures. Unlike current flow-based methods which directly generate the output image, we argue that learning in a style domain could (i) disentangle the retouching styles from the image content, (ii) lead to a stable style presentation form, and (iii) avoid the spatial disharmony effects. For obtaining meaningful image tone style representations, a joint-training pipeline is delicately designed, which is composed of a style encoder, a conditional RetouchNet, and the image tone style normalizing flow (TSFlow) module. In particular, the style encoder predicts the target style representation of an input image, which serves as the conditional information in the RetouchNet for retouching, while the TSFlow maps the style representation vector into a Gaussian distribution in the forward pass. After training, the TSFlow can generate diverse image tone style vectors by sampling from the Gaussian distribution. Extensive experiments on MIT-Adobe FiveK and PPR10K datasets show that our proposed method performs favorably against state-of-the-art methods and is effective in generating diverse results to satisfy different human aesthetic preferences. Source code and pre-trained models are publicly available at https://github.com/SSRHeart/TSFlow.

5.9CVSep 15, 2023Code
MetaF2N: Blind Image Super-Resolution by Learning Efficient Model Adaptation from Faces

Zhicun Yin, Ming Liu, Xiaoming Li et al.

Due to their highly structured characteristics, faces are easier to recover than natural scenes for blind image super-resolution. Therefore, we can extract the degradation representation of an image from the low-quality and recovered face pairs. Using the degradation representation, realistic low-quality images can then be synthesized to fine-tune the super-resolution model for the real-world low-quality image. However, such a procedure is time-consuming and laborious, and the gaps between recovered faces and the ground-truths further increase the optimization uncertainty. To facilitate efficient model adaptation towards image-specific degradations, we propose a method dubbed MetaF2N, which leverages the contained Faces to fine-tune model parameters for adapting to the whole Natural image in a Meta-learning framework. The degradation extraction and low-quality image synthesis steps are thus circumvented in our MetaF2N, and it requires only one fine-tuning step to get decent performance. Considering the gaps between the recovered faces and ground-truths, we further deploy a MaskNet for adaptively predicting loss weights at different positions to reduce the impact of low-confidence areas. To evaluate our proposed MetaF2N, we have collected a real-world low-quality dataset with one or multiple faces in each image, and our MetaF2N achieves superior performance on both synthetic and real-world datasets. Source code, pre-trained models, and collected datasets are available at https://github.com/yinzhicun/MetaF2N.

4.8CVApr 4, 2022Code
Adaptive Network Combination for Single-Image Reflection Removal: A Domain Generalization Perspective

Ming Liu, Jianan Pan, Zifei Yan et al.

Recently, multiple synthetic and real-world datasets have been built to facilitate the training of deep single image reflection removal (SIRR) models. Meanwhile, diverse testing sets are also provided with different types of reflection and scenes. However, the non-negligible domain gaps between training and testing sets make it difficult to learn deep models generalizing well to testing images. The diversity of reflections and scenes further makes it a mission impossible to learn a single model being effective to all testing sets and real-world reflections. In this paper, we tackle these issues by learning SIRR models from a domain generalization perspective. Particularly, for each source set, a specific SIRR model is trained to serve as a domain expert of relevant reflection types. For a given reflection-contaminated image, we present a reflection type-aware weighting (RTAW) module to predict expert-wise weights. RTAW can then be incorporated with adaptive network combination (AdaNEC) for handling different reflection types and scenes, i.e., generalizing to unknown domains. Two representative AdaNEC methods, i.e., output fusion (OF) and network interpolation (NI), are provided by considering both adaptation levels and efficiency. For images from one source set, we train RTAW to only predict expert-wise weights of other domain experts for improving generalization ability, while the weights of all experts are predicted and employed during testing. An in-domain expert (IDE) loss is presented for training RTAW. Extensive experiments show the appealing performance gain of our AdaNEC on different state-of-the-art SIRR networks. Source code and pre-trained models will available at https://github.com/csmliu/AdaNEC.

15.3CVMar 23, 2023Code
Human Guided Ground-truth Generation for Realistic Image Super-resolution

Du Chen, Jie Liang, Xindong Zhang et al.

How to generate the ground-truth (GT) image is a critical issue for training realistic image super-resolution (Real-ISR) models. Existing methods mostly take a set of high-resolution (HR) images as GTs and apply various degradations to simulate their low-resolution (LR) counterparts. Though great progress has been achieved, such an LR-HR pair generation scheme has several limitations. First, the perceptual quality of HR images may not be high enough, limiting the quality of Real-ISR outputs. Second, existing schemes do not consider much human perception in GT generation, and the trained models tend to produce over-smoothed results or unpleasant artifacts. With the above considerations, we propose a human guided GT generation scheme. We first elaborately train multiple image enhancement models to improve the perceptual quality of HR images, and enable one LR image having multiple HR counterparts. Human subjects are then involved to annotate the high quality regions among the enhanced HR images as GTs, and label the regions with unpleasant artifacts as negative samples. A human guided GT image dataset with both positive and negative samples is then constructed, and a loss function is proposed to train the Real-ISR models. Experiments show that the Real-ISR models trained on our dataset can produce perceptually more realistic results with less artifacts. Dataset and codes can be found at https://github.com/ChrisDud0257/HGGT

1.4CVMar 22, 2022
Channel Self-Supervision for Online Knowledge Distillation

Shixiao Fan, Xuan Cheng, Xiaomin Wang et al. · gatech

Recently, researchers have shown an increased interest in the online knowledge distillation. Adopting an one-stage and end-to-end training fashion, online knowledge distillation uses aggregated intermediated predictions of multiple peer models for training. However, the absence of a powerful teacher model may result in the homogeneity problem between group peers, affecting the effectiveness of group distillation adversely. In this paper, we propose a novel online knowledge distillation method, \textbf{C}hannel \textbf{S}elf-\textbf{S}upervision for Online Knowledge Distillation (CSS), which structures diversity in terms of input, target, and network to alleviate the homogenization problem. Specifically, we construct a dual-network multi-branch structure and enhance inter-branch diversity through self-supervised learning, adopting the feature-level transformation and augmenting the corresponding labels. Meanwhile, the dual network structure has a larger space of independent parameters to resist the homogenization problem during distillation. Extensive quantitative experiments on CIFAR-100 illustrate that our method provides greater diversity than OKDDip and we also give pretty performance improvement, even over the state-of-the-art such as PCL. The results on three fine-grained datasets (StanfordDogs, StanfordCars, CUB-200-211) also show the significant generalization capability of our approach.

1.5CVApr 27, 2023
Automatic Localization and Detection Applicable to Robust Image Watermarking Resisting against Camera Shooting

Ming Liu

Robust image watermarking that can resist camera shooting has become an active research topic in recent years due to the increasing demand for preventing sensitive information displayed on computer screens from being captured. However, many mainstream schemes require human assistance during the watermark detection process and cannot adapt to scenarios that require processing a large number of images. Although deep learning-based schemes enable end-to-end watermark embedding and detection, their limited generalization ability makes them vulnerable to failure in complex scenarios. In this paper, we propose a carefully crafted watermarking system that can resist camera shooting. The proposed scheme deals with two important problems: automatic watermark localization (AWL) and automatic watermark detection (AWD). AWL automatically identifies the region of interest (RoI), which contains watermark information, in the camera-shooting image by analyzing the local statistical characteristics. Meanwhile, AWD extracts the hidden watermark from the identified RoI after applying perspective correction. Compared with previous works, the proposed scheme is fully automatic, making it ideal for application scenarios. Furthermore, the proposed scheme is not limited to any specific watermark embedding strategy, allowing for improvements in the watermark embedding and extraction procedure. Extensive experimental results and analysis show that the embedded watermark can be automatically and reliably extracted from the camera-shooting image in different scenarios, demonstrating the superiority and applicability of the proposed approach.

6.5CVJul 21, 2022Code
A Survey on Leveraging Pre-trained Generative Adversarial Networks for Image Editing and Restoration

Ming Liu, Yuxiang Wei, Xiaohe Wu et al.

Generative adversarial networks (GANs) have drawn enormous attention due to the simple yet effective training mechanism and superior image generation quality. With the ability to generate photo-realistic high-resolution (e.g., $1024\times1024$) images, recent GAN models have greatly narrowed the gaps between the generated images and the real ones. Therefore, many recent works show emerging interest to take advantage of pre-trained GAN models by exploiting the well-disentangled latent space and the learned GAN priors. In this paper, we briefly review recent progress on leveraging pre-trained large-scale GAN models from three aspects, i.e., 1) the training of large-scale generative adversarial networks, 2) exploring and understanding the pre-trained GAN models, and 3) leveraging these models for subsequent tasks like image restoration and editing. More information about relevant methods and repositories can be found at https://github.com/csmliu/pretrained-GANs.

33.7CVDec 26, 2023Code
Black-Box Tuning of Vision-Language Models with Effective Gradient Approximation

Zixian Guo, Yuxiang Wei, Ming Liu et al.

Parameter-efficient fine-tuning (PEFT) methods have provided an effective way for adapting large vision-language models to specific tasks or scenarios. Typically, they learn a very small scale of parameters for pre-trained models in a white-box formulation, which assumes model architectures to be known and parameters to be accessible. However, large models are often not open-source due to considerations of preventing abuse or commercial factors, hence posing a barrier to the deployment of white-box PEFT methods. To alleviate the dependence on model accessibility, we introduce collaborative black-box tuning (CBBT) for both textual prompt optimization and output feature adaptation for black-box models. Specifically, considering that the backpropagation gradients are blocked, we approximate the gradients of textual prompts by analyzing the predictions with perturbed prompts. Secondly, a lightweight adapter is deployed over the output feature of the inaccessible model, further facilitating the model adaptation process. Empowered with these designs, our CBBT is extensively evaluated on eleven downstream benchmarks and achieves remarkable improvements compared to existing black-box VL adaptation methods. Code is released at https://github.com/guozix/cbbt.

1.2ARJun 12, 2024Code
Continuous-Time Digital Twin with Analogue Memristive Neural Ordinary Differential Equation Solver

Hegan Chen, Jichang Yang, Jia Chen et al.

Digital twins, the cornerstone of Industry 4.0, replicate real-world entities through computer models, revolutionising fields such as manufacturing management and industrial automation. Recent advances in machine learning provide data-driven methods for developing digital twins using discrete-time data and finite-depth models on digital computers. However, this approach fails to capture the underlying continuous dynamics and struggles with modelling complex system behaviour. Additionally, the architecture of digital computers, with separate storage and processing units, necessitates frequent data transfers and Analogue-Digital (A/D) conversion, thereby significantly increasing both time and energy costs. Here, we introduce a memristive neural ordinary differential equation (ODE) solver for digital twins, which is capable of capturing continuous-time dynamics and facilitates the modelling of complex systems using an infinite-depth model. By integrating storage and computation within analogue memristor arrays, we circumvent the von Neumann bottleneck, thus enhancing both speed and energy efficiency. We experimentally validate our approach by developing a digital twin of the HP memristor, which accurately extrapolates its nonlinear dynamics, achieving a 4.2-fold projected speedup and a 41.4-fold projected decrease in energy consumption compared to state-of-the-art digital hardware, while maintaining an acceptable error margin. Additionally, we demonstrate scalability through experimentally grounded simulations of Lorenz96 dynamics, exhibiting projected performance improvements of 12.6-fold in speed and 189.7-fold in energy efficiency relative to traditional digital approaches. By harnessing the capabilities of fully analogue computing, our breakthrough accelerates the development of digital twins, offering an efficient and rapid solution to meet the demands of Industry 4.0.

1.2ARApr 8, 2024Code
Resistive Memory-based Neural Differential Equation Solver for Score-based Diffusion Model

Jichang Yang, Hegan Chen, Jia Chen et al.

Human brains image complicated scenes when reading a novel. Replicating this imagination is one of the ultimate goals of AI-Generated Content (AIGC). However, current AIGC methods, such as score-based diffusion, are still deficient in terms of rapidity and efficiency. This deficiency is rooted in the difference between the brain and digital computers. Digital computers have physically separated storage and processing units, resulting in frequent data transfers during iterative calculations, incurring large time and energy overheads. This issue is further intensified by the conversion of inherently continuous and analog generation dynamics, which can be formulated by neural differential equations, into discrete and digital operations. Inspired by the brain, we propose a time-continuous and analog in-memory neural differential equation solver for score-based diffusion, employing emerging resistive memory. The integration of storage and computation within resistive memory synapses surmount the von Neumann bottleneck, benefiting the generative speed and energy efficiency. The closed-loop feedback integrator is time-continuous, analog, and compact, physically implementing an infinite-depth neural network. Moreover, the software-hardware co-design is intrinsically robust to analog noise. We experimentally validate our solution with 180 nm resistive memory in-memory computing macros. Demonstrating equivalent generative quality to the software baseline, our system achieved remarkable enhancements in generative speed for both unconditional and conditional generation tasks, by factors of 64.8 and 156.5, respectively. Moreover, it accomplished reductions in energy consumption by factors of 5.2 and 4.1. Our approach heralds a new horizon for hardware solutions in edge computing for generative AI applications.

14.6LGAug 28, 2021
Prototype-Guided Memory Replay for Continual Learning

Stella Ho, Ming Liu, Lan Du et al.

Continual learning (CL) refers to a machine learning paradigm that learns continuously without forgetting previously acquired knowledge. Thereby, major difficulty in CL is catastrophic forgetting of preceding tasks, caused by shifts in data distributions. Existing CL models often save a large number of old examples and stochastically revisit previously seen data to retain old knowledge. However, the occupied memory size keeps enlarging along with accumulating seen data. Hereby, we propose a memory-efficient CL method by storing a few samples to achieve good performance. We devise a dynamic prototype-guided memory replay module and incorporate it into an online meta-learning model. We conduct extensive experiments on text classification and investigate the effect of training set orders on CL model performance. The experimental results testify the superiority of our method in terms of forgetting mitigation and efficiency.

6.4CLJul 27, 2021
Federated Learning Meets Natural Language Processing: A Survey

Ming Liu, Stella Ho, Mengqi Wang et al.

Federated Learning aims to learn machine learning models from multiple decentralized edge devices (e.g. mobiles) or servers without sacrificing local data privacy. Recent Natural Language Processing techniques rely on deep learning and large pre-trained language models. However, both big deep neural and language models are trained with huge amounts of data which often lies on the server side. Since text data is widely originated from end users, in this work, we look into recent NLP models and techniques which use federated learning as the learning framework. Our survey discusses major challenges in federated natural language processing, including the algorithm challenges, system challenges as well as the privacy issues. We also provide a critical review of the existing Federated NLP evaluation methods and tools. Finally, we highlight the current research gaps and future directions.

1.4CVJul 18, 2021
Feature Mining: A Novel Training Strategy for Convolutional Neural Network

Tianshu Xie, Xuan Cheng, Xiaomin Wang et al.

In this paper, we propose a novel training strategy for convolutional neural network(CNN) named Feature Mining, that aims to strengthen the network's learning of the local feature. Through experiments, we find that semantic contained in different parts of the feature is different, while the network will inevitably lose the local information during feedforward propagation. In order to enhance the learning of local feature, Feature Mining divides the complete feature into two complementary parts and reuse these divided feature to make the network learn more local information, we call the two steps as feature segmentation and feature reusing. Feature Mining is a parameter-free method and has plug-and-play nature, and can be applied to any CNN models. Extensive experiments demonstrate the wide applicability, versatility, and compatibility of our method.

1.4CVJun 12, 2021
Go Small and Similar: A Simple Output Decay Brings Better Performance

Xuan Cheng, Tianshu Xie, Xiaomin Wang et al.

Regularization and data augmentation methods have been widely used and become increasingly indispensable in deep learning training. Researchers who devote themselves to this have considered various possibilities. But so far, there has been little discussion about regularizing outputs of the model. This paper begins with empirical observations that better performances are significantly associated with output distributions, that have smaller average values and variances. By audaciously assuming there is causality involved, we propose a novel regularization term, called Output Decay, that enforces the model to assign smaller and similar output values on each class. Though being counter-intuitive, such a small modification result in a remarkable improvement on performance. Extensive experiments demonstrate the wide applicability, versatility, and compatibility of Output Decay.

2.6CVJun 9, 2021
Self-supervision of Feature Transformation for Further Improving Supervised Learning

Zilin Ding, Yuhang Yang, Xuan Cheng et al.

Self-supervised learning, which benefits from automatically constructing labels through pre-designed pretext task, has recently been applied for strengthen supervised learning. Since previous self-supervised pretext tasks are based on input, they may incur huge additional training overhead. In this paper we find that features in CNNs can be also used for self-supervision. Thus we creatively design the \emph{feature-based pretext task} which requires only a small amount of additional training overhead. In our task we discard different particular regions of features, and then train the model to distinguish these different features. In order to fully apply our feature-based pretext task in supervised learning, we also propose a novel learning framework containing multi-classifiers for further improvement. Original labels will be expanded to joint labels via self-supervision of feature transformations. With more semantic information provided by our self-supervised tasks, this approach can train CNNs more effectively. Extensive experiments on various supervised learning tasks demonstrate the accuracy improvement and wide applicability of our method.

2.6CVJun 9, 2021
Self-supervised Feature Enhancement: Applying Internal Pretext Task to Supervised Learning

Yuhang Yang, Zilin Ding, Xuan Cheng et al.

Traditional self-supervised learning requires CNNs using external pretext tasks (i.e., image- or video-based tasks) to encode high-level semantic visual representations. In this paper, we show that feature transformations within CNNs can also be regarded as supervisory signals to construct the self-supervised task, called \emph{internal pretext task}. And such a task can be applied for the enhancement of supervised learning. Specifically, we first transform the internal feature maps by discarding different channels, and then define an additional internal pretext task to identify the discarded channels. CNNs are trained to predict the joint labels generated by the combination of self-supervised labels and original labels. By doing so, we let CNNs know which channels are missing while classifying in the hope to mine richer feature information. Extensive experiments show that our approach is effective on various models and datasets. And it's worth noting that we only incur negligible computational overhead. Furthermore, our approach can also be compatible with other methods to get better results.

1.4CVJun 8, 2021
White Paper Assistance: A Step Forward Beyond the Shortcut Learning

Xuan Cheng, Tianshu Xie, Xiaomin Wang et al.

The promising performances of CNNs often overshadow the need to examine whether they are doing in the way we are actually interested. We show through experiments that even over-parameterized models would still solve a dataset by recklessly leveraging spurious correlations, or so-called 'shortcuts'. To combat with this unintended propensity, we borrow the idea of printer test page and propose a novel approach called White Paper Assistance. Our proposed method involves the white paper to detect the extent to which the model has preference for certain characterized patterns and alleviates it by forcing the model to make a random guess on the white paper. We show the consistent accuracy improvements that are manifest in various architectures, datasets and combinations with other techniques. Experiments have also demonstrated the versatility of our approach on fine-grained recognition, imbalanced classification and robustness to corruptions.

4.7CVMar 29, 2021
FocusedDropout for Convolutional Neural Network

Tianshu Xie, Minghui Liu, Jiali Deng et al.

In convolutional neural network (CNN), dropout cannot work well because dropped information is not entirely obscured in convolutional layers where features are correlated spatially. Except randomly discarding regions or channels, many approaches try to overcome this defect by dropping influential units. In this paper, we propose a non-random dropout method named FocusedDropout, aiming to make the network focus more on the target. In FocusedDropout, we use a simple but effective way to search for the target-related features, retain these features and discard others, which is contrary to the existing methods. We found that this novel method can improve network performance by making the network more target-focused. Besides, increasing the weight decay while using FocusedDropout can avoid the overfitting and increase accuracy. Experimental results show that even a slight cost, 10\% of batches employing FocusedDropout, can produce a nice performance boost over the baselines on multiple datasets of classification, including CIFAR10, CIFAR100, Tiny Imagenet, and has a good versatility for different CNN models.

1.4CVMar 29, 2021
Selective Output Smoothing Regularization: Regularize Neural Networks by Softening Output Distributions

Xuan Cheng, Tianshu Xie, Xiaomin Wang et al.

In this paper, we propose Selective Output Smoothing Regularization, a novel regularization method for training the Convolutional Neural Networks (CNNs). Inspired by the diverse effects on training from different samples, Selective Output Smoothing Regularization improves the performance by encouraging the model to produce equal logits on incorrect classes when dealing with samples that the model classifies correctly and over-confidently. This plug-and-play regularization method can be conveniently incorporated into almost any CNN-based project without extra hassle. Extensive experiments have shown that Selective Output Smoothing Regularization consistently achieves significant improvement in image classification benchmarks, such as CIFAR-100, Tiny ImageNet, ImageNet, and CUB-200-2011. Particularly, our method obtains 77.30% accuracy on ImageNet with ResNet-50, which gains 1.1% than baseline (76.2%). We also empirically demonstrate the ability of our method to make further improvements when combining with other widely used regularization techniques. On Pascal detection, using the SOSR-trained ImageNet classifier as the pretrained model leads to better detection performances.

8.0CVMar 9, 2021Code
Cut-Thumbnail: A Novel Data Augmentation for Convolutional Neural Network

Tianshu Xie, Xuan Cheng, Minghui Liu et al.

In this paper, we propose a novel data augmentation strategy named Cut-Thumbnail, that aims to improve the shape bias of the network. We reduce an image to a certain size and replace the random region of the original image with the reduced image. The generated image not only retains most of the original image information but also has global information in the reduced image. We call the reduced image as thumbnail. Furthermore, we find that the idea of thumbnail can be perfectly integrated with Mixed Sample Data Augmentation, so we put one image's thumbnail on another image while the ground truth labels are also mixed, making great achievements on various computer vision tasks. Extensive experiments show that Cut-Thumbnail works better than state-of-the-art augmentation strategies across classification, fine-grained image classification, and object detection. On ImageNet classification, ResNet-50 architecture with our method achieves 79.21\% accuracy, which is more than 2.8\% improvement on the baseline.

52.9LGOct 15, 2020Code
Multi-label Few/Zero-shot Learning with Knowledge Aggregated from Multiple Label Graphs

Jueqing Lu, Lan Du, Ming Liu et al.

Few/Zero-shot learning is a big challenge of many classifications tasks, where a classifier is required to recognise instances of classes that have very few or even no training samples. It becomes more difficult in multi-label classification, where each instance is labelled with more than one class. In this paper, we present a simple multi-graph aggregation model that fuses knowledge from multiple label graphs encoding different semantic label relationships in order to study how the aggregated knowledge can benefit multi-label zero/few-shot document classification. The model utilises three kinds of semantic information, i.e., the pre-trained word embeddings, label description, and pre-defined label relations. Experimental results derived on two large clinical datasets (i.e., MIMIC-II and MIMIC-III) and the EU legislation dataset show that methods equipped with the multi-graph knowledge aggregation achieve significant performance improvement across almost all the measures on few/zero-shot labels.

0.3CLNov 8, 2019
An Annotation Scheme of A Large-scale Multi-party Dialogues Dataset for Discourse Parsing and Machine Comprehension

Jiaqi Li, Ming Liu, Bing Qin et al.

In this paper, we propose the scheme for annotating large-scale multi-party chat dialogues for discourse parsing and machine comprehension. The main goal of this project is to help understand multi-party dialogues. Our dataset is based on the Ubuntu Chat Corpus. For each multi-party dialogue, we annotate the discourse structure and question-answer pairs for dialogues. As we know, this is the first large scale corpus for multi-party dialogues discourse parsing, and we firstly propose the task for multi-party dialogues machine reading comprehension.

2.6CVOct 29, 2019
PT-ResNet: Perspective Transformation-Based Residual Network for Semantic Road Image Segmentation

Rui Fan, Yuan Wang, Lei Qiao et al.

Semantic road region segmentation is a high-level task, which paves the way towards road scene understanding. This paper presents a residual network trained for semantic road segmentation. Firstly, we represent the projections of road disparities in the v-disparity map as a linear model, which can be estimated by optimizing the v-disparity map using dynamic programming. This linear model is then utilized to reduce the redundant information in the left and right road images. The right image is also transformed into the left perspective view, which greatly enhances the road surface similarity between the two images. Finally, the processed stereo images and their disparity maps are concatenated to create a set of 3D images, which are then utilized to train our neural network. The experimental results illustrate that our network achieves a maximum F1-measure of approximately 91.19% when analyzing the images from the KITTI road dataset.