Improvement of Multiclass Classification of Pavement Objects Using Intensity and Range Images

Table 2

Comparison of deep CNNs for classification of pavement objects using single-scale intensity and range input tiles.

Metric	Method	Input image	Crack	Crack seal	Patch	Pothole	Marker	Manhole	Curbing	Asphalt	Avg
Precision	VGG16	Intensity	0.660	0.533	0.676	0.529	0.923	0.850	0.947	0.945	0.758
		Intensity + Range	0.732	0.684	0.849	0.637	0.944	0.875	0.956	0.959	0.830
	VGG19	Intensity	0.593	0.577	0.653	0.636	0.932	0.840	0.944	0.95	0.766
		Intensity + Range	0.670	0.707	0.823	0.570	0.940	0.887	0.955	0.963	0.814
	ResNet50	Intensity	0.637	0.702	0.661	0.554	0.928	0.831	0.945	0.949	0.776
		Intensity + Range	0.679	0.777	0.793	0.593	0.931	0.879	0.954	0.959	0.821
	DenseNet121	Intensity	0.647	0.529	0.688	0.543	0.928	0.850	0.946	0.949	0.760
		Intensity + Range	0.737	0.875	0.789	0.608	0.935	0.895	0.952	0.961	0.844
	DACNN (ours)	Intensity	0.864	0.897	0.965	0.947	0.966	0.919	0.983	0.986	0.941
		Intensity + Range	0.887	0.942	0.972	0.953	0.971	0.965	0.993	0.987	0.959
Recall	VGG16	Intensity	0.256	0.018	0.345	0.253	0.917	0.646	0.985	0.988	0.551
		Intensity + Range	0.438	0.241	0.563	0.463	0.908	0.669	0.988	0.985	0.657
	VGG19	Intensity	0.373	0.033	0.348	0.139	0.904	0.669	0.991	0.981	0.555
		Intensity + Range	0.480	0.209	0.596	0.571	0.920	0.727	0.986	0.983	0.684
	ResNet50	Intensity	0.33	0.073	0.364	0.271	0.911	0.618	0.990	0.984	0.568
		Intensity + Range	0.453	0.163	0.533	0.450	0.925	0.645	0.988	0.984	0.643
	DenseNet121	Intensity	0.324	0.100	0.363	0.319	0.912	0.655	0.990	0.984	0.581
		Intensity + Range	0.431	0.218	0.648	0.528	0.926	0.676	0.992	0.985	0.676
	DACNN (ours)	Intensity	0.780	0.837	0.942	0.909	0.957	0.937	0.990	0.991	0.918
		Intensity + Range	0.805	0.947	0.958	0.956	0.966	0.937	0.990	0.993	0.944
F-score	VGG16	Intensity	0.369	0.034	0.457	0.343	0.920	0.734	0.966	0.966	0.599
		Intensity + Range	0.548	0.356	0.677	0.536	0.926	0.758	0.972	0.972	0.718
	VGG19	Intensity	0.458	0.063	0.454	0.223	0.918	0.745	0.967	0.965	0.599
		Intensity + Range	0.560	0.323	0.691	0.602	0.930	0.799	0.970	0.973	0.731
	ResNet50	Intensity	0.434	0.133	0.469	0.364	0.919	0.709	0.967	0.966	0.620
		Intensity + Range	0.543	0.269	0.638	0.512	0.928	0.744	0.971	0.971	0.697
	DenseNet121	Intensity	0.432	0.169	0.475	0.402	0.920	0.740	0.967	0.966	0.634
		Intensity + Range	0.544	0.349	0.712	0.566	0.930	0.770	0.971	0.973	0.727
	DACNN	Intensity	0.820	0.866	0.953	0.928	0.961	0.928	0.986	0.988	0.929
		Intensity + Range	0.844	0.944	0.965	0.954	0.969	0.951	0.992	0.990	0.951