Semantic Segmentation of Multispectral Images Using Deep Learning

Download Pretrained U-Net

Specify dataDir as the desired location of the trained network and data set.

dataDir = fullfile(tempdir,"rit18_data");

Download a pretrained U-Net network.

trainedNet_url = "https://ssd.mathworks.com/supportfiles/"+ ...
    "vision/data/trainedMultispectralUnetModel_v2.zip";
downloadTrainedNetwork(trainedNet_url,dataDir);
load(fullfile(dataDir,"trainedMultispectralUnetModel", ...
    "trainedMultispectralUnetModel_v2.mat"));

Download Data Set

This example uses a high-resolution multispectral data set to train the network [1]. The image set was captured using a drone over the Hamlin Beach State Park, NY. The data contains labeled training, validation, and test sets, with 18 object class labels. The size of the data file is 3.0 GB.

Download the MAT file version of the data set using the downloadHamlinBeachMSIData helper function. This function is attached to the example as a supporting file.

downloadHamlinBeachMSIData(dataDir);

Load the data set.

load(fullfile(dataDir,"rit18_data.mat"));
whos train_data val_data test_data

  Name            Size                         Bytes  Class     Attributes

  test_data       7x12446x7654            1333663576  uint16              
  train_data      7x9393x5642              741934284  uint16              
  val_data        7x8833x6918              855493716  uint16              

The multispectral image data is arranged as numChannels-by-width-by-height arrays. However, in MATLAB®, multichannel images are arranged as width-by-height-by-numChannels arrays. To reshape the data so that the channels are in the third dimension, use the permute function.

train_data = permute(train_data,[2 3 1]);
val_data = permute(val_data,[2 3 1]);
test_data = permute(test_data,[2 3 1]);

Confirm that the data has the correct structure.

whos train_data val_data test_data

  Name                Size                     Bytes  Class     Attributes

  test_data       12446x7654x7            1333663576  uint16              
  train_data       9393x5642x7             741934284  uint16              
  val_data         8833x6918x7             855493716  uint16              

Visualize Multispectral Data

Display the center of each spectral band in nanometers.

disp(band_centers)

   490   550   680   720   800   900

In this data set, the RGB color channels are the 3rd, 2nd, and 1st image channels, respectively. Display the RGB component of the training, validation, and test images as a montage. To make the images appear brighter on the screen, equalize their histograms by using the histeq (Image Processing Toolbox) function.

rgbTrain = histeq(train_data(:,:,[3 2 1]));
rgbVal = histeq(val_data(:,:,[3 2 1]));
rgbTest = histeq(test_data(:,:,[3 2 1]));

montage({rgbTrain,rgbVal,rgbTest},BorderSize=10,BackgroundColor="white")
title("RGB Component of Training, Validation, and Test Image (Left to Right)")

The 4th, 5th, and 6th channels of the data correspond to near-infrared bands. Equalize the histogram of these three channels for the training image, then display these channels as a montage. The channels highlight different components of the image based on their heat signatures. For example, the trees are darker in the 4th channel than in the other two infrared channels.

ir4Train = histeq(train_data(:,:,4));
ir5Train = histeq(train_data(:,:,5));
ir6Train = histeq(train_data(:,:,6));

montage({ir4Train,ir5Train,ir6Train},BorderSize=10,BackgroundColor="white")
title("Infrared Channels 4, 5, and 6 (Left to Right) of Training Image ")

The 7th channel of the data is a binary mask that indicates the valid segmentation region. Display the mask for the training, validation, and test images.

maskTrain = train_data(:,:,7);
maskVal = val_data(:,:,7);
maskTest = test_data(:,:,7);

montage({maskTrain,maskVal,maskTest},BorderSize=10,BackgroundColor="white")
title("Mask of Training, Validation, and Test Image (Left to Right)")

Visualize Ground Truth Labels

The labeled images contain the ground truth data for the segmentation, with each pixel assigned to one of the 18 classes. Get a list of the classes with their corresponding IDs.

disp(classes)

0. Other Class/Image Border      
1. Road Markings                 
2. Tree                          
3. Building                      
4. Vehicle (Car, Truck, or Bus)  
5. Person                        
6. Lifeguard Chair               
7. Picnic Table                  
8. Black Wood Panel              
9. White Wood Panel              
10. Orange Landing Pad           
11. Water Buoy                   
12. Rocks                        
13. Other Vegetation             
14. Grass                        
15. Sand                         
16. Water (Lake)                 
17. Water (Pond)                 
18. Asphalt (Parking Lot/Walkway)

This example aims to segment the images into two classes: vegetation and non-vegetation. Define the target class names.

classNames = ["NotVegetation" "Vegetation"];

Group the 18 original classes into the two target classes for the training and validation data. "Vegetation" is a combination of the original classes "Tree", "Other Vegetation", and "Grass", which have class IDs 2, 13, and 14. The original class "Other Class/Image Border" with class ID 0 belongs to the background class. All other original classes belong to the target label "NotVegetation".

vegetationClassIDs = [2 13 14];
nonvegetationClassIDs = setdiff(1:length(classes),vegetationClassIDs);

labelsTrain = zeros(size(train_labels),"uint8");
labelsTrain(ismember(train_labels,nonvegetationClassIDs)) = 1;
labelsTrain(ismember(train_labels,vegetationClassIDs)) = 2;

labelsVal = zeros(size(val_labels),"uint8");
labelsVal(ismember(val_labels,nonvegetationClassIDs)) = 1;
labelsVal(ismember(val_labels,vegetationClassIDs)) = 2;

Save the ground truth validation labels as a PNG file. The example uses this file to calculate accuracy metrics.

imwrite(labelsVal,"gtruth.png");

Overlay the labels on the histogram-equalized RGB training image. Add a color bar to the image.

cmap = [1 0 1;0 1 0];
B = labeloverlay(rgbTrain,labelsTrain,Transparency=0.8,Colormap=cmap);
imshow(B,cmap)
title("Training Labels")
numClasses = numel(classNames);
ticks = 1/(numClasses*2):1/numClasses:1;
colorbar(TickLabels=cellstr(classNames), ...
    Ticks=ticks,TickLength=0,TickLabelInterpreter="none");

Perform Semantic Segmentation on Test Image

The size of the image prevents segmenting the entire image at once. Instead, segment the image using a blocked image approach. This approach can scale to very large files because it loads and processes one block of data at a time.

Create a blocked image containing the six spectral channels of the test data by using the blockedImage (Image Processing Toolbox) function.

patchSize = [1024 1024];
bimTest = blockedImage(test_data(:,:,1:6),BlockSize=patchSize);

Segment a block of data by using the semanticseg (Computer Vision Toolbox) function. Call the sematicseg function on all blocks in the blocked image by using the apply function.

bimSeg = apply(bimTest,@(bs)semanticseg(bs.Data,net,Outputtype="uint8"), ...
    PadPartialBlocks=true,PadMethod=0);

Assemble all of the segmented blocks into a single image into the workspace by using the gather function.

segmentedImage = gather(bimSeg);

To extract only the valid portion of the segmentation, multiply the segmented image by the mask channel of the test data.

segmentedImage = segmentedImage .* uint8(maskTest~=0);
imshow(segmentedImage,[])
title("Segmented Image")

The output of semantic segmentation is noisy. Perform post image processing to remove noise and stray pixels. Remove salt-and-pepper noise from the segmentation by using the medfilt2 (Image Processing Toolbox) function. Display the segmented image with the noise removed.

segmentedImage = medfilt2(segmentedImage,[7 7]);
imshow(segmentedImage,[]);
title("Segmented Image with Noise Removed")

Overlay the segmented image on the histogram-equalized RGB validation image.

B = labeloverlay(rgbTest,segmentedImage,Transparency=0.8,Colormap=cmap);
imshow(B,cmap)
title("Labeled Segmented Image")
colorbar(TickLabels=cellstr(classNames), ...
    Ticks=ticks,TickLength=0,TickLabelInterpreter="none");

Calculate Extent of Vegetation Cover

The semantic segmentation results can be used to answer pertinent ecological questions. For example, what percentage of land area is covered by vegetation? To answer this question, find the number of pixels labeled vegetation in the segmented test image. Also, find the total number of pixels in the ROI by counting the number of nonzero pixels in the segmented image.

vegetationPixels = ismember(segmentedImage(:),vegetationClassIDs);
numVegetationPixels = sum(vegetationPixels(:));
numROIPixels = nnz(segmentedImage);

Calculate the percentage of vegetation cover by dividing the number of vegetation pixels by the number of pixels in the ROI.

percentVegetationCover = (numVegetationPixels/numROIPixels)*100;
disp("The percentage of vegetation cover is "+percentVegetationCover+"%");

The percentage of vegetation cover is 60.7028%

The rest of the example shows how to train U-Net on the Hamlin Beach data set.

Create Blocked Image Datastores for Training

Use a blocked image datastore to feed the training data to the network. This datastore extracts multiple corresponding patches from an image datastore and pixel label datastore that contain ground truth images and pixel label data.

Read the training images, training labels, and mask as blocked images.

inputTileSize = [256 256];
bim = blockedImage(train_data(:,:,1:6),BlockSize=inputTileSize);
bLabels = blockedImage(labelsTrain,BlockSize=inputTileSize);
bmask = blockedImage(maskTrain,BlockSize=inputTileSize);

Select blocks of image data that overlap with the mask.

overlapPct = 0.185;
blockOffsets = round(inputTileSize.*overlapPct);
bls = selectBlockLocations(bLabels, ...
    BlockSize=inputTileSize,BlockOffsets=blockOffsets, ...
    Masks=bmask,InclusionThreshold=0.95);

One-hot encode the labels.

labelsTrain1hot = onehotencode(labelsTrain,3,ClassNames=1:2);
labelsTrain1hot(isnan(labelsTrain1hot)) = 0;
bLabels = blockedImage(labelsTrain1hot,BlockSize=inputTileSize);

Write the data to blocked image datastores by using the blockedImageDatastore (Image Processing Toolbox) function.

bimds = blockedImageDatastore(bim,BlockLocationSet=bls,PadMethod=0);
bimdsLabels = blockedImageDatastore(bLabels,BlockLocationSet=bls,PadMethod=0);

Create a CombinedDatastore from the two blocked image datastores.

dsTrain = combine(bimds,bimdsLabels);

The blocked image datastore dsTrain provides mini-batches of data to the network at each iteration of the epoch. Preview the datastore to explore the data.

preview(dsTrain)

ans=1×2 cell array
    {256×256×6 uint16}    {256×256×2 double}

Create U-Net Network

This example uses a variation of the U-Net network. In U-Net, the initial series of convolutional layers are interspersed with max pooling layers, successively decreasing the resolution of the input image. These layers are followed by a series of convolutional layers interspersed with upsampling operators, successively increasing the resolution of the input image [2]. The name U-Net comes from the fact that the network can be drawn with a symmetric shape like the letter U.

Specify hyperparameters of the U-Net. The input depth is the number of hyperspectral channels, 6.

inputDepth = 6;

Create the U-Net network using the unet (Computer Vision Toolbox) function.

unetNetwork = unet([inputTileSize inputDepth],numClasses);

Define Loss Function

Define a custom loss function called lossFcn that calculates cross entropy loss over all unmasked pixels of an image.

function loss = lossFcn(Y,T)
    mask = ~isnan(T);
    T(isnan(T)) = 0;
    loss = crossentropy(Y,T,Mask=mask);
end

Select Training Options

Train the network using stochastic gradient descent with momentum (SGDM) optimization. Specify the hyperparameter settings for SGDM by using the trainingOptions function. To enable gradient clipping, specify the GradientThreshold name-value argument as 0.05 and specify the GradientThresholdMethod to use the L2-norm of the gradients.

maxEpochs = 70;
minibatchSize = 16;

options = trainingOptions("sgdm", ...
    InitialLearnRate=0.05, ...
    MaxEpochs=maxEpochs, ...
    MiniBatchSize=minibatchSize, ...
    L2Regularization=0.001, ...
    LearnRateDropPeriod=10, ...
    LearnRateSchedule="piecewise", ...
    GradientThreshold=0.05, ...
    Shuffle="every-epoch", ...
    VerboseFrequency=200);

Train the Network

To train the network, set the doTraining variable in the following code to true. Train the model by using the trainnet function. Specify the loss as the custom loss function, lossFcn. By default, the trainnet function uses a GPU if one is available. Training on a GPU requires a Parallel Computing Toolbox™ license and a supported GPU device. For information on supported devices, see GPU Computing Requirements (Parallel Computing Toolbox). Otherwise, the trainnet function uses the CPU. To specify the execution environment, use the ExecutionEnvironment training option.

doTraining = false;
if doTraining
    net = trainnet(dsTrain,unetNetwork,@lossFcn,options);
    modelDateTime = string(datetime("now",Format="yyyy-MM-dd-HH-mm-ss"));
    save(fullfile(dataDir,"multispectralUnet-"+modelDateTime+".mat"),"net");
end

Evaluate Segmentation Accuracy

Segment the validation data.

Create a blocked image containing the six spectral channels of the validation data by using the blockedImage (Image Processing Toolbox) function.

bimVal = blockedImage(val_data(:,:,1:6),BlockSize=patchSize);

Segment a block of data by using the semanticseg (Computer Vision Toolbox) function. Call the sematicseg function on all blocks in the blocked image by using the apply function.

bimSeg = apply(bimVal,@(bs)semanticseg(bs.Data,net,Outputtype="uint8"),...
    PadPartialBlocks=true,PadMethod=0);

Assemble all of the segmented blocks into a single image into the workspace by using the gather function.

segmentedImage = gather(bimSeg);

Save the segmented image as a PNG file.

imwrite(segmentedImage,"results.png");

Load the segmentation results and ground truth labels by using the pixelLabelDatastore (Computer Vision Toolbox) function.

pixelLabelIDs = [1 2];
pxdsResults = pixelLabelDatastore("results.png",classNames,pixelLabelIDs);
pxdsTruth = pixelLabelDatastore("gtruth.png",classNames,pixelLabelIDs);

Measure the accuracy of the semantic segmentation by using the evaluateSemanticSegmentation (Computer Vision Toolbox) function. The global accuracy score indicates that over 96% of the pixels are classified correctly.

ssm = evaluateSemanticSegmentation(pxdsResults,pxdsTruth);

Evaluating semantic segmentation results
----------------------------------------
* Selected metrics: global accuracy, class accuracy, IoU, weighted IoU, BF score.
* Processed 1 images.
* Finalizing... Done.
* Data set metrics:

    GlobalAccuracy    MeanAccuracy    MeanIoU    WeightedIoU    MeanBFScore
    ______________    ____________    _______    ___________    ___________

        0.9694           0.9704       0.9406       0.94064        0.79474  

References

[1] Kemker, R., C. Salvaggio, and C. Kanan. "High-Resolution Multispectral Dataset for Semantic Segmentation." CoRR, abs/1703.01918. 2017.

[2] Ronneberger, O., P. Fischer, and T. Brox. "U-Net: Convolutional Networks for Biomedical Image Segmentation." CoRR, abs/1505.04597. 2015.

[3] Kemker, Ronald, Carl Salvaggio, and Christopher Kanan. "Algorithms for Semantic Segmentation of Multispectral Remote Sensing Imagery Using Deep Learning." ISPRS Journal of Photogrammetry and Remote Sensing, Deep Learning RS Data, 145 (November 1, 2018): 60-77. https://doi.org/10.1016/j.isprsjprs.2018.04.014.