A method of semantically segmenting an input image using a neural network is provided. The method includes extracting features of the input image to generate one or more feature maps; and analyzing the one or more feature maps to generate a plurality of predictions respectively corresponding to a plurality of subpixels of the input image. Extracting features of the input image is performed using a residual network having N number of residual blocks, N being a positive integer greater than 1. Analyzing the one or more feature maps is performed through M number of feature analyzing branches to generate M sets of predictions. A respective one set of the M sets of predictions includes multiple predictions respectively corresponding to the plurality of subpixels of the input image. A respective one of the plurality of predictions is an average value of corresponding ones of the M sets of predictions.