Semantic segmentation is crucial for autonomous navigation in off-road environments, enabling precise classification of surroundings to identify traversable regions. However, distinctive factors inherent to off-road conditions, such as source-target domain discrepancies and sensor corruption from rough terrain, can result in distribution shifts that alter the data differently from the trained conditions. This often leads to inaccurate semantic label predictions and subsequent failures in navigation tasks. To address this, we propose ST-Seg, a novel framework that expands the source distribution through style expansion (SE) and texture regularization (TR). Unlike prior methods that implicitly apply generalization within a fixed source distribution, ST-Seg offers an intuitive approach for distribution shift. Specifically, SE broadens domain coverage by generating diverse realistic styles, augmenting the limited style information of the source domain. TR stabilizes local texture representation affected by style-augmented learning through a deep texture manifold. Experiments across various distribution-shifted target domains demonstrate the effectiveness of ST-Seg, with substantial improvements over existing methods. These results highlight the robustness of ST-Seg, enhancing the real-world applicability of semantic segmentation for off-road navigation.
Domain Generalization Semantic Segmentation (DGSS) focuses on generalizing knowledge from labeled source domains to unseen target domains where data is unavailable during the training phase. While conventional methods utilize style randomization or feature normalization to mitigate domain shifts, they often impair feature integrity. Specifically, style randomization distorts the underlying feature manifold due to its coarse-grained nature, while feature normalization suppresses discriminative, domain-sensitive semantic details owing to its rigid design. To address these limitations, we propose the Language-and-Source-Anchored Alignment (LASA) framework, which comprises three synergistic components: Text-and-Source-Guided Style Transfer (TSGST), Domain-Aware Query Adapter (DAQA), and Domain-Aware Decoder Optimizer (DADO). Concretely, the TSGST module addresses manifold distortion by utilizing source features as structural anchors and vision-language model (VLM) priors as fine-grained guidance. To restore suppressed discriminative and domain-sensitive details, the DAQA module recalibrates object queries via categorical guidance and domain-aware signatures, while the DADO module aligns the resulting query distributions with a shared classifier to ensure consistent categorical responses across domains. Extensive experiments on challenging benchmarks demonstrate that our method significantly outperforms state-of-the-art approaches.
WeatherSeg, an advanced semi-supervised segmentation framework, addresses autonomous driving's environmental perception challenges in adverse weather while reducing annotation costs. This framework integrates a Dual Teacher-Student Weight-Sharing Model (DTSWSM) that enables knowledge distillation from weather-affected images, and a Classifier Weight Updating Attention Mechanism (CWUAM) that dynamically adjusts classifier weights based on environmental attributes. Comprehensive evaluations demonstrate that WeatherSeg significantly outperforms baseline models in both accuracy and robustness across various weather conditions, including clear, rainy, cloudy, and foggy scenarios, establishing it as an effective solution for all-weather semantic segmentation in autonomous driving and related applications.
Traditional semantic segmentation models operate under a closed-set assumption and struggle to recognize unknown or unexpected objects-an essential capability for autonomous driving. As a result, such models often misclassify or overlook out-of-distribution (OOD) road anomalies, posing safety risks in open-world environments. We present a lightweight, postprocessing, road-aware anomaly segmentation framework that requires no retraining, no OOD data, and no auxiliary supervision. Our approach builds on a mask transformer-based segmentation network by exploiting query-level mask confidence and deriving a polygonal road prior to detect gap regions that may correspond to anomalies. To further suppress false positives, we introduce a CLIP-based zero-shot semantic filtering module using in-distribution prompts, with optional generalized OOD prompts. By jointly leveraging spatial priors and semantic verification, our framework produces robust and interpretable anomaly predictions. Evaluation on three public benchmarks-Fishyscapes, SMIYC, and RoadAnomaly-shows consistently strong performance. In particular, our method outperforms the training-free baseline Maskomaly on most metrics and achieves the highest AP on Fishyscapes LostAndFound. These results demonstrate the practicality and deployability of our approach for real-world autonomous driving systems.