Before revision:  We evaluate our proposed Efficient Scene Analysis Network (ESANet) on the common indoor datasets NYUv2 and SUNRGB-D and show that it reaches state-of-the-art performance when considering both segmentation performance and runtime .
After revision:  We evaluate our proposed Efficient Scene Analysis Network (ESANet) on the common indoor datasets NYUv2 and SUNRGB-D and show that it reaches state-of-the-art performance while enabling faster inference .