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September 10, 2025Open Access

Lightweight Semantic Segmentation for AGV Navigation: An Enhanced ESPNet-C with Dual Attention Mechanisms

JSJianqi ShuZhejiang Wanli University XYXiang YanXinjiang Normal University WLWen LiuZhejiang Wanli University

Key Points

The model achieves 90.5% Miou at 0.425 M parameters, enhancing efficiency for automated guided vehicles.
It reduces computational costs by 70–92% compared to DeepLabV3+, indicating significant resource savings.
Boundary coherence improved by 22% under uneven lighting, enhancing navigation accuracy in dynamic environments.
The model demonstrates generalization with 90.2% Miou on public datasets, ensuring versatility in real-world applications.

Abstract

Efficient navigation of Automated Guided Vehicles (AGVs) in dynamic warehouse environments requires real-time and accurate path segmentation algorithms. However, traditional semantic segmentation models suffer from excessive parameters and high computational costs, limiting their deployment on resource-constrained embedded platforms. A lightweight image segmentation algorithm is proposed, built on an improved ESPNet-C architecture, combining Spatial Group-wise Enhance (SGE) and Efficient Channel Attention (ECA) with a dual-branch upsampling decoder. On our custom warehouse dataset, the model attains 90.5% Miou with 0.425 M parameters and runs at ~160 FPS, reducing parameters by ×116–×136 and computational costs by 70–92% in comparison with DeepLabV3+. The proposed model improves boundary coherence by 22% under uneven lighting and achieves 90.2% Miou on the public BDD100K benchmark, demonstrating strong generalization beyond warehouse data. These results highlight its suitability as a real-time visual perception module for AGV navigation in resource-constrained environments and offer practical guidance for designing lightweight semantic segmentation models for embedded applications.

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