Semantic_Segmentation
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StaticSegFormer: An Efficient High-Performance Semantic Segmentation Based on Static Structured Pruning
2026-08-05 13:14:50Timo Bartels, Danish Nazir, Jan Piewek, Thorsten Bagdonat, Tim FingscheidtAbstract
Structured pruning enhances the efficiency of deep neural networks (DNNs) by eliminating groups of parameters during inference. Previous methods mostly reduce computational complexity (FLOPs), while semantic segmentation performance (mIoU) slightly drops. Accordingly, recent dynamic structured pruning methods aim at reducing the performance drop, while lowering the FLOPs even more. However, on the ADE20K and Cityscapes benchmarks, our study reveals that on a GPU platform such dynamic methods exhibit a surprisingly low frame rate far below a simple static approach, while having comparable results in mIoU and FLOPs. To address this issue, we propose a static structured pruning method for attention layers, that achieves both, a lower FLOPs and a high frame rate [fps] of the SegFormer network, the latter increased by up to 34% relative on the Cityscapes dataset, while having no mIoU performance drop at all. Our so-called StaticSegFormer method is strongest for small encoders and large images.
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URL
https://arxiv.org/abs/2608.04811
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OutLangSplat: 3D Language Gaussian Splatting for UAV Outdoor Scenes
2026-08-05 07:54:22Xia Yan, He Wu, Yanghui Xu, Zizhao Wu, Jiazhou ChenAbstract
3D Language Gaussian Splatting embeds open-vocabulary language features into 3D Gaussian Splatting, providing an efficient explicit representation for text-driven 3D scene understanding. However, existing methods are limited to indoor or small-scale scenes, and tend to fail in Unmanned Aerial Vehicle (UAV) outdoor scenes, where severe occlusions and long distance viewpoints often lead to incorrect semantic activations and missing target responses. In this paper, we present OutLangSplat which adapts language Gaussian representations to UAV outdoor scenes by improving feature representation and aggregation reliability. For the feature representation, a 2D-3D dual-branch representation with region-based alignment and fusion is designed to improve spatial consistency, reducing incomplete target responses and background misactivations. For the feature aggregation, we introduce a training-free contribution and consistency-aware Gaussian feature aggregation strategy that leverages pixel contribution reliability and cross-view semantic consistency to suppress unreliable responses from noisy viewpoints. A new dataset is provided by manually annotating various objects on four real-world public UAV outdoor scene datasets. To the best of our knowledge, it is the first accessible dataset of open-vocabulary 3D scene understanding for UAV outdoor scenes. Quantitative evaluations and ablation studies demonstrate that OutLangSplat outperforms SOTA methods on both open-vocabulary semantic segmentation and instance localization tasks. The datasets and codes will be open-sourced.
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URL
https://arxiv.org/abs/2608.04560
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Perceptual Anchoring: Prototype-Guided Text Calibration for Training-free Open-Vocabulary Semantic Segmentation
2026-08-04 17:52:13Wanli Ma, Jiangwen Lu, Qinmu Peng, Xinge YouAbstract
Training-free open-vocabulary semantic segmentation (OVSS) partitions an image into semantically distinct regions based on arbitrary text descriptions, without learning any additional parameters. However, existing methods typically focus on improving visual representations while treating text embeddings that encode only generic category concepts as fixed classification references. The resulting semantic gap between these generic concepts and the visual representations that capture the specific appearances of target instances often causes incomplete masks and erroneous predictions in non-target regions. Inspired by the symbol-percept correspondence underlying perceptual anchoring, we propose Prototype-Guided Text Calibration (PTC) for training-free OVSS. In the Perceiving stage, PTC selects reliable visual evidence based on initial matching scores to construct category-specific visual prototypes. In the Anchoring stage, PTC uses these prototypes to calibrate their corresponding text embeddings, with the calibration strength adaptively adjusted based on the amount of visual evidence. Consequently, the calibrated text embeddings align more accurately with instance-specific visual representations while preserving generic category semantics and open-vocabulary generalization. Moreover, PTC requires neither additional training nor external models and can serve as a plug-and-play module for existing methods. Extensive experiments across eight benchmarks show that PTC significantly enhances the performance of six representative methods and yields more complete and accurate segmentation results. These results validate PTC as a simple and effective approach to improving visual-text alignment.
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URL
https://arxiv.org/abs/2608.03991
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iFAN: Inference-Aware Learning for Plain Mask Transformers
2026-08-04 06:51:06Fang Li, Yu He, Haoyang Tong, Lichen Ma, Jingling Fu, Wenxiao Fan, Tongxuan Liu, Luohang Liu, Ke Zhang, Junshi HuangAbstract
Query-based mask transformers assemble segmentation outputs through pixel-wise competition among query predictions of the final layer, yet this inference process is not explicitly optimized during training. We identify two key mismatches: the query with the highest probability-mask score does not necessarily produce the most accurate mask, and final-layer decoding may discard superior predictions from intermediate layers. To address these issues, we propose Inference-Aware Learning (iFAN), a general training framework for plain mask transformers. iFAN introduces Adjusted Probability-Mask Ranking (APMR), which aligns query competition with predicted mask quality and suppresses high-confidence but inaccurate competitors. We further employ Cross-Layer Self-Distillation (CLSD) to transfer stronger intermediate predictions to the final layer. The ranking and distillation objectives are training-only, while inference retains efficient final-layer decoding. Experiments on COCO, ADE20K, and Cityscapes demonstrate consistent improvements across panoptic, instance, and semantic segmentation, as well as across different architectures, backbone scales, and input resolutions. Overall, iFAN improves performance by an average of 1.20 PQ, 1.30 AP, and 0.63 mIoU, with negligible additional parameters, FLOPs and inference latency.
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URL
https://arxiv.org/abs/2608.03216
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FaithIR: Rethinking Infrared Image Super-Resolution from Perceptual Sharpness to Task Relevant Fidelity
2026-08-04 04:23:30Axi Niu, Zhenguo Wu, Kang Zhang, Qingsen Yan, Jinqiu Sun, Yanning ZhangAbstract
Infrared image super-resolution (IISR) is important for downstream tasks such as object detection and semantic segmentation. Existing IISR methods often produce artificial textures, over-sharpened edges, and spurious high-frequency details that distort authentic thermal structures and semantic information. To address this issue, we propose FaithIR, a faithful infrared super-resolution framework for reliable machine perception. FaithIR consists of a patch-level conditioning branch that captures global thermal and structural information and a pixel-level restoration branch that performs dense local reconstruction under structural guidance. The entire restoration process is performed directly in the pixel domain to preserve infrared-specific structures and task-relevant information. Extensive experiments on FLIR-IISR, M3FD, and FMB demonstrate strong reconstruction fidelity, cross-dataset generalization, and superior performance in object detection and semantic segmentation. These results show that demonstrate that preserving faithful infrared structure preservations is more important for reliable machine perception than merely pursuing perceptual sharpness alone.
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URL
https://arxiv.org/abs/2608.03106
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Standalone DINOv3 for Training-Free Open-Vocabulary Semantic Segmentation in Remote Sensing
2026-08-04 02:12:39Changhao Zhao, Haoxiang Li, Yuke Li, Hai Liu, LingLin ZengAbstract
Remote sensing semantic segmentation is hindered by costly pixel-level annotations, motivating training-free open-vocabulary methods. Recently, the recent release of DINOv3 brings this http URL, which equips the standalone DINO backbone with image-text contrastive learning and thus opens up the possibility of open-vocabulary segmentation. We propose DinoSplat-OV, a training-free framework that adapts DINOv3 to remote sensing without fine-tuning or additional pretraining. Targeting the dense distribution, multi-scale nature, and large size of remote sensing imagery, we design two core modules. Its Text-aware Laplacian Propagation module de-noises patch-level predictions by combining textual semantic affinities with local visual similarity, improving regional consistency while preserving boundaries. Its Gaussian Splatting Upsampling module reconstructs pixel-level features through RGB-guided anisotropic aggregation and test-time optimization. A global-anchor sliding-window strategy further supports large-scale imagery. Experiments on UDD5, DOTA, and LoveDA demonstrate competitive or superior performance over existing training-free methods, effectively filling the gap of DINO-series models in training-free open-vocabulary segmentation and providing a viable new path for further advances in this direction.
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URL
https://arxiv.org/abs/2608.03023
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PixelUp: Zero-Shot Semantic Feature Upsampling for Fine-Grained Vision Tasks
2026-08-03 18:42:22Deepank Singh, Anurag Nihal, Vedhus HoskereAbstract
Self-supervised Vision Foundation Models (VFMs) have become essential backbones for downstream tasks due to their strong and transferable visual representations. However, their patch-token-level features are often too coarse for dense prediction tasks such as semantic segmentation and depth estimation when accurate fine-grained predictions are required. Feature upsampling methods have been developed to recover pixel-level detail but still face limitations. Learnable upsamplers are often designed for a specific encoders and must be retrained for different encoders. Image-guided methods that use shallow pixel encoders often introduce textural artifacts and lack the semantic guidance needed for accurate downstream predictions. We introduce PixelUp, a zero-shot VFM-agnostic upsampler achieving semantic awareness through a coarse-to-fine chain of windowed cross-attention architecture guided by multi-scale semantic features. We demonstrate that PixelUp outperforms both VFM-specific and VFM-agnostic upsamplers, achieving state-of-the-art performance on dense prediction tasks with an average improvement of +1.2 mIoU on semantic segmentation and +0.25 $\delta_1$, on NYUv2 depth estimation across VFMs. PixelUp further improves training-free open-vocabulary and unsupervised semantic segmentation by an average of +1.3 mIoU and +0.5 mIoU, respectively. Code available at this https URL
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URL
https://arxiv.org/abs/2608.02792
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ST-LoRA: Single Trajectory LoRA Ensemble for Uncertainty Aware Agricultural Segmentation
2026-08-02 22:49:28Mohamed Farag, Genc Hoxha, Yahia Maleki, Chris McCool, Ribana RoscherAbstract
Reliable decision-support in digital agriculture requires accurate predictions and well-calibrated uncertainty estimates, particularly for dense prediction tasks such as semantic segmentation. Ensemble methods provide strong uncertainty quantification, but their computational and memory demands limit practical use, while single-model approximations often trade off uncertainty quality for efficiency. We propose ST-LoRA, a parameter-efficient ensemble framework that builds diverse ensemble members from a single training trajectory by combining Low-Rank Adaptation (LoRA) with snapshot ensembling. Each member shares a frozen pretrained backbone and differs only in lightweight low-rank adapters, reducing trainable parameters to under 10% of the full model while preserving ensemble diversity. We evaluate across two agricultural datasets - GrowliFlower-L (cauliflower, open field) and BUP20 (sweet pepper, glasshouse) - using SegFormer and Mask2Former, covering in-distribution performance, calibration under distribution shift, and out-of-distribution detection. Ablations show feed-forward layers, not attention layers, are the critical LoRA target for dense prediction, contrary to the attention-only convention from language models. ST-LoRA matches or exceeds full-rank ensembles in segmentation accuracy and calibration across both datasets and architectures, while substantially reducing training time, inference latency, memory footprint, and storage requirements. Against efficient baselines - Snapshot Ensemble, MC Dropout, and Deep Deterministic Uncertainty - ST-LoRA consistently matches or outperforms them in image/pixel-level OoD detection, calibration stability under shift, and cross-seed variance, with far fewer parameters and lower compute. These results show LoRA-efficient ensemble adaptation is a highly effective, practical approach for uncertainty-aware agricultural vision systems.
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URL
https://arxiv.org/abs/2608.01530
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PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
2026-07-30 17:59:35Lizhi Yang, Junheng Li, Aaron D. AmesAbstract
We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, while training-time CBF guidance represents clearance to every body link, and an adversarial motion prior regularizes the resulting evasive reflexes. We evaluate on a controlled any-link contact benchmark with seeded throws in two regimes: single throws and a deployment loop in which the robot walks back to its station and recovers between throws. On this benchmark, the policy comes within a few points of a privileged state oracle: a fixed onboard camera alone is adequate for evasion. We find that usable barrier structure depends on perceptual observability: Joint-CBF gives the best performance with accurate ball states, degrades under fixed-camera observations when used only as training guidance, and recovers with a ball-tracking gimbal or privileged runtime filter. We therefore deploy a lightweight Link-CBF policy zero-shot on the Unitree G1 in the real world, where it tolerates imperfect perception, succeeds on 95% of throws, and uses semantic segmentation to dodge different balls.
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URL
https://arxiv.org/abs/2607.28623
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IGME: Efficient Chained Method Ensemble for Transferable Semantic Segmentation Attacks
2026-07-29 21:08:48Mengqi He, Jing ZhangAbstract
Semantic segmentation models are vulnerable to transferable adversarial perturbations, yet evaluating transfer attacks on dense prediction models can be computationally expensive. Existing ensemble attacks often rely on multiple surrogate models, increasing the computation cost, even harder for segmentation. This paper studies an efficient single-source alternative for transferable attacks on semantic segmentation. We formulate transferable attack composition as a chained computation over differentiable attack components, allowing the expensive source-model gradient computation to be shared. To reduce the update instability introduced by chained composition, we further use an integrated-gradient-style path-averaged direction as an empirical stabilization heuristic. Experiments on Pascal VOC and Cityscapes evaluate the resulting transferability efficiency trade-off across CNN- and transformer-based segmentation models. IGME achieves competitive transferability compared with single-source baselines and favorable runtime compared with model-ensemble attacks, while requiring access to only one source model.
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URL
https://arxiv.org/abs/2607.27465
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DVPSFormer: Efficient Online Depth-aware Video Panoptic Segmentation for Autonomous Driving
2026-07-28 18:16:00Yung-Hsu Yang, Luigi Piccinelli, Siyuan Li, Mattia Segu, Lei Ke, Martin Danelljan, Yuqian Fu, Zuria Bauer, Fisher Yu, Hermann Blum, Marc PollefeysAbstract
Safe autonomous navigation requires a holistic understanding of dynamic environments, necessitating the simultaneous estimation of metric depth, semantic segmentation, and instance trajectories. While depth-aware video panoptic segmentation (DVPS) unifies these tasks, existing approaches often rely on computationally expensive, multi-stage pipelines or offline tracking, rendering them unsuitable for real-time decision-making. To address this, we propose DVPSFormer, a unified online architecture designed for efficient 4D scene understanding. Central to our approach is explicit scene discretization (ESD), a novel mechanism that leverages segmentation queries to represent foreground and background regions, enabling a discrete-to-continuous (D2C) depth head to decode metric depth in a single pass. This tightly couples semantic and geometric learning while significantly reducing latency. Furthermore, we propose an online majority voting (OMV) mechanism that exploits temporal consistency to refine classification during instance tracking. DVPSFormer establishes a new state-of-the-art on the Cityscapes-DVPS and SemKITTI-DVPS benchmarks, offering a streamlined solution for online robotic perception. Code and models are available at this https URL.
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URL
https://arxiv.org/abs/2607.26165
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TraceCLIP: Recovering Local Semantics from Patch-to-CLS Contributions
2026-07-28 11:25:27Xinran Liu, Shouqian Shi, Yutong Chen, Ge Wang, Xin-Wei Yao, Sheng ZhongAbstract
Dense vision-language understanding, including object localization, region recognition, and open-vocabulary semantic segmentation, requires associating language concepts with spatially grounded visual regions. CLIP provides a strong foundation for these tasks by learning a shared image-text embedding space from large-scale contrastive pre-training. However, its image-level objective aligns text with a CLS-derived global representation, leaving local vision-language correspondence only indirectly constrained. Existing methods either introduce additional supervision, external models, or task-specific adaptation, while training-free approaches mainly recover dense responses from existing patch features without examining where local semantics become most accessible within CLIP. We introduce TraceCLIP, a training-free framework that recovers latent patch-level semantic evidence by isolating the patch-specific terms written into the CLS attention output. TraceCLIP further converts contribution-derived semantic responses into a semantic-geodesic topology gate that calibrates final-layer patch affinity for dense feature reconstruction. Diagnostic experiments show that these contribution features exhibit strong local semantic discrimination and text-conditioned spatial alignment. On eight zero-shot semantic segmentation benchmarks, TraceCLIP achieves gains of 1.3 to 4.5 points in average mIoU over the strongest prior training-free methods across both backbones and background settings, without additional training, external vision foundation models, or region-level supervision. More broadly, these findings suggest that spatially localized semantics may remain accessible within the internal construction of globally aligned representations.
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URL
https://arxiv.org/abs/2607.26107
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ObliCity: A Benchmark and Baseline for Roof-to-Ground Projection Displacement Correction
2026-07-28 02:31:47Kai Li, Yupeng Deng, Ligao Deng, Zhihao Xi, Chenhao Wang, Jierui Zhang, Yingrui Ji, Yu Meng, Xiangyu ZhaoAbstract
Oblique-view urban remote sensing imagery inevitably exhibits geometric projection displacements between building roofs and footprints, leading to significant distortions in spatial structure. Existing approaches either ignore these deformations or handle them implicitly within segmentation-based frameworks, where progress is dominated by general segmentation advances rather than improvements in geometric correction. In this work, we explicitly define roof-to-footprint offset vector (RFOV) extraction as an independent learning task that decouples geometric alignment from semantic segmentation. To support this task, we introduce the Oblique City dataset (ObliCity), the first large-scale benchmark that integrates high-resolution UAV imagery and globally distributed satellite data, covering diverse city morphologies and camera perspectives. Methodologically, we reformulate DragOSM into DragRoof, an ODE-based framework inspired by human annotation behavior. By simulating the continuous process of dragging roofs toward their footprints, DragRoof learns deterministic, geometry-consistent offset fields and adaptively determines convergence through an end token. Extensive experiments on ObliCity demonstrate that DragRoof achieves state-of-the-art RFOV extraction performance, requiring fewer inference steps while delivering superior directional and length accuracy. Our dataset and model establish a principled foundation for studying projection displacement correction in oblique remote sensing imagery. The source code and dataset will be avaliable at this https URL.
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URL
https://arxiv.org/abs/2607.25210
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A Modern ConvNet for Solar Filament Detection
2026-07-27 15:06:58J. R. Hu, Q. Hao, Z. Zheng, P. F. Chen, C. Li, Y. MengAbstract
Automated solar filament detection using deep learning faces several challenges. Semantic segmentation of solar filaments is a complicated multiscale feature extraction task with long-tail distribution. Furthermore, a large-scale, highly complete, and finely detailed dataset has become mandatory for providing abundant information. To address these challenges, we present a series of machine learning approaches to develop a solar filament detection workflow that performs superbly. First, we manually annotated a small-scale solar filament dataset based on H$\alpha$ spectra called MHAS. Next, we developed the Multiscale ORiented DENdritic (MORDEN) model, a semantic segmentation model focusing on multiscale feature extraction. We also introduced the Dense Conditional Random Field (DenseCRF) and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) methods for post-processing. Using the proposed workflow, we generated a large-scale, high-quality dataset called AHAS. Experimental results demonstrate that MORDEN outperforms several existing solar filament semantic segmentation models with open access. DenseCRF has been demonstrated to effectively capture fine edge details. We also evaluated the effects of data scaling and the reliability of DBSCAN and found that both approaches yield satisfactory performance. Multiple visualization results substantiate our quantitative findings. Our work provides a foundation for maximizing the potential of deep learning models for solar filament detection.
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URL
https://arxiv.org/abs/2607.24525
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Perturbation-Aware Diffusion-Guided Hybrid Segmentation for Robust and Annotation-Efficient Plant Stress Phenotyping
2026-07-26 14:28:05Gurbhit Chaurakoti, Soumyashree KarAbstract
Semantic segmentation in agricultural imagery is often evaluated under in-domain protocols, yet practical deployment requires robustness to appearance perturbations, limited annotations, and cross domain shift. This paper presents a diffusion-guided hybrid segmentation framework in which U-Net, DeepLabV3+, and SegFormer backbones generate coarse masks that are refined by Denoising Diffusion Probabilistic Models (DDPM), latent diffusion, or semantic-guided diffusion. The framework is evaluated through a 3x3 architectural screening study on PlantSegV3, followed by boundary-constrained optimization, perturbation-guided retraining, low-data evaluation, constrained hyperparameter screening, and controlled cross-domain adaptation. On PlantSegV3, the best selected hybrid model achieves 71.83% refined mean Intersection-over-Union (mIoU) and 26.10% refined Boundary-F1, and the selected models remain stable under substantially reduced supervision, demonstrating strong annotation efficiency. Perturbation analysis identifies grayscale conversion, fog, coarse dropout, and shadow as the most disruptive appearance shifts, and the resulting augmentation policy substantially improves robustness during retraining. The adapted models further show effective transfer to external agricultural datasets under limited target supervision, indicating that diffusion refinement and boundary-aware optimization provide transferable structural priors. Overall, the results show that carefully matched backbone-refiner pairings, combined with perturbation-aware retraining, can improve structural delineation and robustness under realistic resource and distribution constraints.
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URL
https://arxiv.org/abs/2607.23680
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When Less Is More: A Controlled Benchmark of Lightweight CNNs for Satellite Land-Cover Segmentation on DeepGlobe
2026-07-25 03:51:49Atiq Ur Rehman, Joseph Michael DonovanAbstract
High-resolution satellite imagery is the backbone of good land-cover classification, and without that, environmental monitoring, urban planning, and sustainable resource management all fall short. Deep learning architectures perform well in semantic segmentation, but the efficiency-accuracy trade-off across classical convolutional encoders is not well quantified under controlled, reproducible conditions. This study compares five architectures VGG16, MobileNetV2, InceptionV3, AlexNet, and CNN on the DeepGlobe Land Cover Classification dataset using three progressively optimized iterations to isolate regularisation, transfer learning, and architectural depth. To ensure performance differentials reflect architectural properties, all experiments used identical preprocessing, hyperparameter, and training protocols without data augmentation or class-imbalance correction. At 24.98 MB, MobileNetV2_v1 had the highest overall accuracy (0.7906) and mean Intersection over Union (0.4625), outperforming deeper alternatives like InceptionV3_v2 (125.17 MB, accuracy 0.7610) and VGG16_v2 (71.13 MB, accuracy 0.7653). Class-wise analysis showed strength in urban, agricultural, and water categories, but rangeland-barren confusion showed that architectural optimization alone cannot optimize spectrally similar minority classes. Strong spatial generalization and crisp boundary delineation were confirmed on held-out test imagery, validating operational applicability. These results show that lightweight, transfer-learned models can match or outperform deeper models in resource-constrained remote-sensing environments, enabling scalable land-cover mapping.
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URL
https://arxiv.org/abs/2607.23024
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Unified Video Dense Prediction from Disjoint Data
2026-07-23 17:59:50Yihong Sun, Seoung Wug Oh, Jiahui Huang, Bharath Hariharan, Joon-Young LeeAbstract
Scene understanding requires simultaneous prediction about geometry, appearance, and semantics. However, existing task-specific annotations are fragmented across incompatible, domain-specific datasets. Current unified systems circumvent this by restricting training to fully co-annotated data, or by incurring the large computational cost of pseudo-labeling. To mitigate this, we introduce UniD, a unified video model that jointly predicts eight dense scene properties-depth, surface normals, semantic segmentation, boundaries, human parts, albedo, shading, and materials-all learned from disjoint, domain-specific datasets. We propose a simple yet effective distillation step in which per-task experts supervise a unified backbone through lightweight task projectors, eliminating the need for annotation overlap or pseudo-labeling. Our key insight is that the strong visual priors of a pretrained diffusion model are sufficient to bridge the domain gaps introduced by disjoint training sources, enabling robust generalization to scene-task combinations never seen during training. UniD achieves competitive performance against per-task specialists and multi-task baselines, with strong generalization to out-of-distribution scenarios and enhanced temporal and cross-task consistency. Code and video results are available at this https URL.
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URL
https://arxiv.org/abs/2607.21592
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DINOde: Continuous Vision-Text Alignment for Open-Vocabulary Semantic Segmentation
2026-07-23 14:37:27Sung-Hoon Yoon, Hoyong Kwon, Changgyoon Oh, Kuk-Jin YoonAbstract
Open-vocabulary semantic segmentation (OVSS) leverages textual semantics to segment objects beyond predefined categories. While the self-supervised model DINOv3 provides strong structured visual representations, its lack of native textual alignment hinders its direct application to OVSS. To bridge this gap, we propose DINOde, an ODE-based framework that continuously aligns CLIP text embeddings with the DINO visual manifold. Our approach employs two complementary components: (i) Semantic Text Flow (STF), which evolves text embeddings toward the DINO manifold through a continuous ODE trajectory, and (ii) Global Context Flow (GCF), which progressively refines the holistic image representation carried by DINO's CLS token. To preserve the hyperspherical geometry of the feature space during this evolution, we further introduce Velocity Tangent Projection, which constrains the learned velocity field to the tangent space. By modeling alignment as a continuous trajectory, DINOde avoids the manifold entanglement inherent in discrete MLP projections and yields more robust cross-modal alignment. Extensive experiments demonstrate that DINOde consistently outperforms existing methods and achieves state-of-the-art performance across multiple OVSS benchmarks. The code is available at this https URL.
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URL
https://arxiv.org/abs/2607.21371
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Safety-oriented sidewalk and road segmentation for smartphone-based assistive navigation
2026-07-23 10:16:43Hakan Calim, Anamaria Dumitrescu, Adarsh Bhandary Panambur, Huzaifa Asif, Andreas MaierAbstract
Independent sidewalk mobility is essential for blind and visually impaired pedestrians (BVIPs), yet smartphone-based assistive navigation requires perception models that distinguish walkable sidewalks from adjacent unsafe regions. This study presents a safety-oriented semantic segmentation framework for future mobile guidance. We introduce SENSATION-DS, a chest-height pedestrian-view dataset with 2,752 image-mask pairs and nine-class navigation-relevant taxonomy. External urban and sidewalk datasets were harmonized to this label space, and five segmentation architectures were evaluated using staged target-domain adaptation with mask-conditioned synthetic images and Segment Anything Model 2 (SAM2) pseudo-labels. Models were assessed using mean Intersection over Union (mIoU), road- and sidewalk-specific metrics, Road-as-Sidewalk Error Rate as a proxy false-safe measure, and Android Open Neural Network Exchange benchmarking. Synthetic augmentation generally improved segmentation accuracy, whereas SAM2 pseudo-labels more consistently reduced Road-as-Sidewalk errors. UPerNet-MobileNetV3 achieved the highest offline mIoU (0.715 +/- 0.006), while DeepLabV3Plus-MobileNetV3 achieved the lowest Road-as-Sidewalk Error Rate (0.079) and highest Android runtime at 512x384 (7.383 FPS). These results show that assistive sidewalk perception should be evaluated jointly by segmentation accuracy, proxy false-safe behavior, and smartphone deployment feasibility, while real-world benefit requires validation with BVIP users. This evaluation supports selecting models that balance accurate perception, conservative error behavior, and practical runtime.
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URL
https://arxiv.org/abs/2607.21137
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Loss Landscape Topology Reveals Why Simple Baselines are Competitive at 3D Point Cloud Segmentation Under Class Imbalance
2026-07-23 09:19:31Antonis Savva, Christos Kyrkou, Theocharis TheocharidesAbstract
Semantic segmentation of 3D point clouds faces severe class imbalance, yet the effectiveness of specialized imbalance-aware methods from 2D computer vision remains unclear in 3D contexts. We systematically evaluate 11 imbalance mitigation approaches across datasets with extreme (641:1) and moderate (56:1) imbalance ratios, revealing a surprising finding: standard cross-entropy with uniform weighting achieves competitive performance, typically within 0.8-3.3% mIoU of specialized methods across architectures and datasets. Through multifaceted mechanistic analysis of error patterns, decision boundaries, and the geometry of the optimization landscape, our analyses suggest that imbalance severity shapes the topology, creating narrow solution basins under extreme imbalance and flat plateaus under moderate imbalance. This appears to constrain the effectiveness of loss-level modifications, as all methods must navigate these geometric constraints. Our findings offer practical guidance; standard cross-entropy provides a robust baseline, with specialized methods offering modest improvements (0.8-3.3% mIoU) that vary by architecture and dataset but risk substantial degradation if poorly tuned. This work provides the first mechanistic explanation for why techniques proven effective in 2D do not readily transfer to point-based 3D point cloud segmentation, validated across two representative architectures.
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URL
https://arxiv.org/abs/2607.21089
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