---
library_name: transformers
license: mit
tags:
  - image-segmentation
  - semantic-segmentation
  - segformer
  - road-scene
  - cityscapes
  - game-assets
  - vision
pipeline_tag: image-segmentation
datasets:
  - Chris1/cityscapes_segmentation
metrics:
  - mean_iou
model-index:
  - name: segformer-b0-road-scene-7class
    results:
      - task:
          type: image-segmentation
          name: Semantic Segmentation
        dataset:
          type: Chris1/cityscapes_segmentation
          name: Cityscapes
          split: validation
        metrics:
          - type: mean_iou
            value: 84.0
            name: Mean IoU
---

# SegFormer-B0 — Road Scene Segmentation (7 Game-Asset Classes)

A **SegFormer-B0** model fine-tuned on [Cityscapes](https://huggingface.co/datasets/Chris1/cityscapes_segmentation) for **7-class semantic segmentation** of road scenes. This model uses a purpose-built taxonomy where every class maps directly to a game element — road texture, sky backdrop, tree sprites, building silhouettes, etc.

| | |
|---|---|
| **Architecture** | SegFormer-B0 (Mix Transformer encoder + all-MLP decoder) |
| **Parameters** | 3.7 M |
| **Input** | RGB image, any resolution (resized to 512×512) |
| **Output** | 7-class pixel mask (upsampled to input resolution at inference) |
| **Best val mIoU** | **≥ 84.0 %** |
| **Format** | SafeTensors (14.2 MB) |

## 7-Class Game Taxonomy

| ID | Class | IoU | Game Function |
|:--:|-------|:---:|---------------|
| 0 | `road` | 97.5 % | Driving surface — grey asphalt texture sampling |
| 1 | `sidewalk` | 80.3 % | Ground-level non-road surfaces (sidewalk, terrain) |
| 2 | `building` | 88.1 % | Background vertical structures — building silhouettes |
| 3 | `vegetation` | 89.1 % | Tall greenery — tree sprite extraction |
| 4 | `sky` | 92.2 % | Sky band — direct crop for game background |
| 5 | `vehicle` | 87.8 % | Road obstacles |
| 6 | `roadside_object` | 52.7 % | Thin vertical roadside elements (poles, signs, people) |

### Key design decisions

- **Road ↔ sidewalk kept separate** so road color sampling produces pure grey asphalt without contamination from sidewalk / terrain tones.
- **Terrain grouped with sidewalk**, not vegetation — ground-level grass strips serve the same game function as sidewalk.
- **All building-like structures merged** (building, wall, fence) — the game treats them identically as background geometry.
- **All vehicle types merged** — the game treats every vehicle as a road obstacle.
- **Roadside objects** (poles, traffic lights, signs, persons, riders) are grouped into a single thin-element class with fallback stock sprites when extraction quality is low.

## Usage

```python
from transformers import SegformerImageProcessor, SegformerForSemanticSegmentation
from PIL import Image
import torch
import torch.nn.functional as F

processor = SegformerImageProcessor.from_pretrained("Marco333/segformer-b0-road-scene-7class")
model = SegformerForSemanticSegmentation.from_pretrained("Marco333/segformer-b0-road-scene-7class")

image = Image.open("road_photo.jpg")
inputs = processor(images=image, return_tensors="pt")

with torch.no_grad():
    outputs = model(**inputs)

# Upsample logits to original image size
mask = F.interpolate(
    outputs.logits,
    size=image.size[::-1],  # (H, W)
    mode="bilinear",
    align_corners=False,
).argmax(dim=1)[0]

# mask values: 0=road, 1=sidewalk, 2=building, 3=vegetation, 4=sky, 5=vehicle, 6=roadside_object
```

## Training Details

### Dataset

[Chris1/cityscapes_segmentation](https://huggingface.co/datasets/Chris1/cityscapes_segmentation) — urban street scenes from 50 European cities.

| Split | Images |
|-------|-------:|
| Train | 2,975 |
| Val | 500 |

The original Cityscapes masks use **label IDs 0–33** stored as 3-channel RGB images. A custom preprocessing pipeline extracts channel 0 and applies a 256-element lookup table to remap all 34 Cityscapes classes into the 7-class game taxonomy in a single vectorized operation (unmapped classes → 255 = ignore).

### Hyperparameters

| Parameter | Value |
|-----------|-------|
| Base weights | `nvidia/segformer-b0-finetuned-ade-512-512` (encoder only) |
| Optimizer | AdamW |
| Learning rate | 6 × 10⁻⁵ |
| LR schedule | Polynomial decay |
| Warmup | 10 % of total steps |
| Weight decay | 0.01 |
| Effective batch size | 8 (4 × device · 2 grad accum) |
| Training resolution | 512 × 512 |
| Precision | FP16 mixed precision |
| Epochs | 50 |
| Augmentation | ColorJitter (brightness=0.25, contrast=0.25, saturation=0.25, hue=0.1) — train only |
| Best-model selection | Highest mean IoU on validation set (`load_best_model_at_end=True`) |
| Hardware | NVIDIA T4 (16 GB VRAM) |

### Training Curve

| Epoch | mIoU | Road | Sidewalk | Building | Vegetation | Sky | Vehicle | Roadside Obj |
|------:|-----:|-----:|---------:|---------:|-----------:|----:|--------:|-------------:|
| 1 | 59.5 % | 93.2 % | 54.6 % | 74.3 % | 73.7 % | 56.9 % | 63.9 % | 0.0 % |
| 3 | 73.8 % | 95.4 % | 69.4 % | 82.7 % | 82.5 % | 84.3 % | 79.4 % | 23.1 % |
| 5 | 80.4 % | 96.7 % | 76.5 % | 86.2 % | 87.0 % | 88.9 % | 84.3 % | 43.2 % |
| 9 | 82.9 % | 97.4 % | 79.2 % | 87.5 % | 88.3 % | 91.0 % | 86.7 % | 50.4 % |
| 16 | 84.0 % | 97.5 % | 80.3 % | 88.1 % | 89.1 % | 92.2 % | 87.8 % | 52.7 % |

The model converges quickly thanks to transfer learning — the pretrained encoder already understands road scene features; only the 7-class decoder head is learned from scratch.

### Implementation Notes

Several non-obvious flags are required for correct training:

- `ignore_mismatched_sizes=True` — the pretrained decoder head has a different number of output classes.
- `remove_unused_columns=False` — prevents the Trainer from dropping image data columns.
- `label_names=["labels"]` — tells the Trainer which key holds the segmentation targets.
- `do_reduce_labels=False` — Cityscapes labels don't need ADE20K-style background subtraction.
- **Logit upsampling in `compute_metrics`** — SegFormer outputs at ¼ resolution; logits must be upsampled before comparison with ground-truth masks.

## Intended Use

This model is designed for a **game asset extraction pipeline** where a user uploads a road photograph and the runtime transforms it into game elements:

1. **Road shape** — fit road boundaries from the road mask; derive perspective and horizon.
2. **Color palette** — sample dominant colors from each masked region of the original image.
3. **Sky** — crop the sky band directly using the sky mask.
4. **Tree sprites** — blob detection on the vegetation mask; crop with alpha transparency.
5. **Building silhouettes** — extract from the building mask for background geometry.
6. **Fallback system** — when extraction quality is poor for any element, use palette-matched stock assets.

## Limitations

- Trained exclusively on European urban street scenes (Cityscapes). Performance may degrade on rural roads, highways without sidewalks, non-European road styles, or indoor scenes.
- `roadside_object` class (52.7 % IoU) is the weakest — thin elements like poles and signs are inherently difficult at 512×512 resolution. The intended runtime uses fallback sprites for this class.
- Not suitable for safety-critical autonomous driving — the merged taxonomy intentionally discards distinctions (truck vs. car, wall vs. fence) that matter for driving but not for game art.

## Citation

Please cite this model if you use it:

```bibtex
@misc{corbetta_segformer_road_scene_7class_2026,
  author       = {Marco Corbetta},
  title        = {segformer-b0-road-scene-7class: SegFormer-B0 fine-tuned on Cityscapes for 7-class game-asset segmentation},
  year         = {2026},
  publisher    = {Hugging Face},
  howpublished = {\url{https://huggingface.co/Marco333/segformer-b0-road-scene-7class}}
}
```

SegFormer:

```bibtex
@inproceedings{xie2021segformer,
  title={SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers},
  author={Xie, Enze and Wang, Wenhai and Yu, Zhiding and Anandkumar, Anima and Alvarez, Jose M and Luo, Ping},
  booktitle={NeurIPS},
  year={2021}
}
```