A Novel Lightweight Framework for Real-Time Pavement Crack Segmentation Based on Knowledge Distillation

Abstract

Accurate pavement crack segmentation is essential for structural health monitoring, yet existing methods often face a trade-off between segmentation accuracy and computational efficiency. To address this issue, a novel teacher–student framework, termed RTCS-T and RTCS-S, is proposed. The teacher network RTCS-T is constructed based on the Swin Transformer to capture long-range dependencies and multi-scale contextual information. To further enhance crack representation, a strip refinement module is introduced to model directional structural features, while a cascaded atrous spatial pyramid pooling module is employed to improve multi-scale feature aggregation. Based on the teacher network, a lightweight student model RTCS-S is developed by using depthwise separable convolutions to achieve efficient inference. In addition, a foreground-aware and boundary-aware knowledge distillation strategy is introduced to guide the transfer of structural and contextual information from the teacher to the student. Experiments on the Crack500, DeepCrack, and CFD datasets demonstrated competitive performance against representative segmentation models. On CFD, RTCS-S achieved an F1 Score of 0.7514 and an mIoU of 0.7962. Notably, RTCS-S required only 1.82 M parameters and 1.13 GFLOPs and achieved a model inference speed of 680 FPS on an RTX 4090 GPU. When deployed on an RDK X5 edge-computing platform, the complete pipeline achieved an end-to-end throughput of 34 FPS, with an average latency of approximately 29.4 ms and peak memory consumption of 1.8 GB. These results demonstrate that the proposed framework provides an efficient solution for automated pavement crack detection and shows strong potential for practical road inspection applications.