Before revision:  Specifically, we achieve 76.6\% and 75.9 \% mIOU on Cityscapes validation and test sets respectively, at 76 FPS on an NVIDIA RTX 2080Ti and 8 FPS on a Jetson Xavier NX. Codes and training models will be made publicly available .
After revision:  We evaluate our method on two semantic segmentation datasets, namely Cityscapes dataset and UAVid dataset. For Cityscapes test set, our model achieves state-of-the-art results with mIOU of 75.9 \% mIOU on Cityscapes validation and test sets respectively, at 76 FPS on an NVIDIA RTX 2080Ti and 8 FPS on a Jetson Xavier NX. Codes and training models will be made publicly available .