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News/Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data
arxiv
PublishedMay 28, 2026 at 4:00 AM

Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data

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arXiv:2605.27644v1 Announce Type: cross Abstract: Terrain understanding is fundamental for mobile robots operating in unstructured outdoor environments. Existing vision-based traversability estimation methods rely on robot-specific annotations or semantic class mappings, limiting transferability acr

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