CSTR: Cross-Scale Token Refinement with Gated Structural Injection for Off-Road Semantic Segmentation

Official implementation of "CSTR: Cross-Scale Token Refinement with Gated Structural Injection for Off-Road Semantic Segmentation".

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Overview

CSTR is an off-road semantic segmentation framework designed to improve robust perception in unstructured outdoor environments.
It decouples semantic consolidation and boundary-aware structural correction to better handle ambiguous transitions between terrain, vegetation, obstacles, and drivable regions.

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Highlights

• Cross-scale token refinement for robust semantic representation
• Boundary-aware structural correction for ambiguous off-road regions
• Gated structural injection for selective cross-scale feature interaction
• Robust to noisy labels and unclear class boundaries
• Support for RUGD and RELLIS-3D datasets
• MMSegmentation-based training and evaluation pipeline

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Framework

Overall architecture of CSTR.

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Dataset Preparation

Supported Datasets

• RUGD
• RELLIS-3D

The dataset should be organized as follows:

CSTR
├── data
│   ├── rellis
│   │   ├── test.txt
│   │   ├── train.txt
│   │   ├── val.txt
│   │   ├── annotation
│   │   │   ├── 00000
│   │   │   ├── 00001
│   │   │   ├── 00002
│   │   │   ├── 00003
│   │   │   └── 00004
│   │   └── image
│   │       ├── 00000
│   │       ├── 00001
│   │       ├── 00002
│   │       ├── 00003
│   │       └── 00004
│   │
│   └── rugd
│       ├── test_ours.txt
│       ├── test.txt
│       ├── train_ours.txt
│       ├── train.txt
│       ├── val_ours.txt
│       ├── val.txt
│       ├── RUGD_annotations
│       │   ├── creek
│       │   ├── park-1
│       │   ├── park-2
│       │   ├── park-8
│       │   ├── trail-1
│       │   ├── trail-3
│       │   ├── trail-7
│       │   ├── trail-9
│       │   ├── trail-15
│       │   └── village
│       └── RUGD_frames-with-annotations
│           ├── creek
│           ├── park-1
│           ├── park-2
│           ├── park-8
│           ├── trail-1
│           ├── trail-3
│           ├── trail-7
│           ├── trail-9
│           ├── trail-15
│           └── village
│
├── configs
├── tools
└── ...