Technical Report for ICRA 2025 GOOSE 2D Semantic Segmentation Challenge: Boosting Off-Road Segmentation via Photometric Distortion and Exponential Moving Average
Wonjune Kim, Lae-kyoung Lee, Su-Yong An
Abstract
We report on the application of a high-capacity semantic segmentation pipeline to the GOOSE 2D Semantic Segmentation Challenge for unstructured off-road environments. Using a FlashInternImage-B backbone together with a UPerNet decoder, we adapt established techniques, rather than designing new ones, to the distinctive conditions of off-road scenes. Our training recipe couples strong photometric distortion augmentation (to emulate the wide lighting variations of outdoor terrain) with an Exponential Moving Average (EMA) of weights for better generalization. Using only the GOOSE training dataset, we achieve 88.8\% mIoU on the validation set.
Related Papers
SeC: Advancing Complex Video Object Segmentation via Progressive Concept Construction2025-07-21Deep Learning-Based Fetal Lung Segmentation from Diffusion-weighted MRI Images and Lung Maturity Evaluation for Fetal Growth Restriction2025-07-17DiffOSeg: Omni Medical Image Segmentation via Multi-Expert Collaboration Diffusion Model2025-07-17From Variability To Accuracy: Conditional Bernoulli Diffusion Models with Consensus-Driven Correction for Thin Structure Segmentation2025-07-17Unleashing Vision Foundation Models for Coronary Artery Segmentation: Parallel ViT-CNN Encoding and Variational Fusion2025-07-17SCORE: Scene Context Matters in Open-Vocabulary Remote Sensing Instance Segmentation2025-07-17Unified Medical Image Segmentation with State Space Modeling Snake2025-07-17A Privacy-Preserving Semantic-Segmentation Method Using Domain-Adaptation Technique2025-07-17