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Semantic segmentation has made encouraging progress due to the success of deep convolutional networks in recent years. Meanwhile, depth sensors become prevalent nowadays; thus, depth maps can be acquired more easily. However, there are few studies that focus on the RGB-D semantic segmentation task. Exploiting the depth information effectiveness to improve performance is a challenge. In this paper, we propose a novel solution named LDFNet, which incorporates Luminance, Depth and Color information by a fusion-based network. It includes a sub-network to process depth maps and employs luminance images to assist the depth information in processes. LDFNet outperforms the other state-of-art systems on the Cityscapes dataset, and its inference speed is faster than most of the existing networks. The experimental results show the effectiveness of the proposed multi-modal fusion network and its potential for practical applications.