AI RESEARCH
A Cross-Scale Decoder with Token Refinement for Off-Road Semantic Segmentation
arXiv CS.CV
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ArXi:2603.27931v1 Announce Type: new Off-road semantic segmentation is fundamentally challenged by irregular terrain, vegetation clutter, and inherent annotation ambiguity. Unlike urban scenes with crisp object boundaries, off-road environments exhibit strong class-level similarity among terrain categories, resulting in thick and uncertain transition regions that degrade boundary coherence and destabilize