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:  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. With regards to UAVid dataset, our proposed network achieves mIOU score of 63.5\% with high execution speed (15 FPS) .