Trinity is a unified transformer that performs both class-specific semantic segmentation and class-agnostic terrain segmentation, trained on synthetic RUGDSynth data and evaluated on the new EXTerra real-world dataset.
OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagery,
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Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data
Trinity is a unified transformer that performs both class-specific semantic segmentation and class-agnostic terrain segmentation, trained on synthetic RUGDSynth data and evaluated on the new EXTerra real-world dataset.