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ORFD: A Dataset and Benchmark for Off-Road Freespace Detection
IEEE International Conference on Robotics and Automation (ICRA), 2022
20 June 2022
Chen Min
Weizhong Jiang
Dawei Zhao
Jiaolong Xu
Liang Xiao
Yiming Nie
Bin Dai
3DPC
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Papers citing
"ORFD: A Dataset and Benchmark for Off-Road Freespace Detection"
28 / 28 papers shown
Advancing Off-Road Autonomous Driving: The Large-Scale ORAD-3D Dataset and Comprehensive Benchmarks
Chen Min
Jilin Mei
Heng Zhai
Shuai Wang
Tong Sun
...
Yiming Nie
Qi Zhu
Liang Xiao
Dawei Zhao
Yu Hu
165
2
0
18 Oct 2025
ROD: RGB-Only Fast and Efficient Off-road Freespace Detection
IEEE International Conference on Robotics and Automation (ICRA), 2025
Tong Sun
Hongliang Ye
Jilin Mei
Liang Chen
Fangzhou Zhao
Leiqiang Zong
Yu Hu
138
2
0
12 Aug 2025
OTAS: Open-vocabulary Token Alignment for Outdoor Segmentation
Simon Schwaiger
Stefan Thalhammer
Wilfried Wöber
Gerald Steinbauer-Wagner
169
0
0
08 Jul 2025
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain
Tong Xu
Chenhui Pan
Madhan B. Rao
A. Datar
Anuj Pokhrel
Yuanjie Lu
Xuesu Xiao
275
6
0
17 Feb 2025
Fully Exploiting Vision Foundation Model's Profound Prior Knowledge for Generalizable RGB-Depth Driving Scene Parsing
Sicen Guo
Tianyou Wen
Chuang-Wei Liu
Qijun Chen
Rui Fan
420
1
0
10 Feb 2025
Task-Oriented Pre-Training for Drivable Area Detection
IEEE International Conference on Robotics and Automation (ICRA), 2024
Fulong Ma
Guoyang Zhao
Weiqing Qi
Ming Liu
Jun Ma
VLM
218
1
0
30 Sep 2024
Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Raphael Hagmanns
Peter Mortimer
Miguel Granero
T. Luettel
J. Petereit
340
7
0
27 Sep 2024
RoadFormer+: Delivering RGB-X Scene Parsing through Scale-Aware Information Decoupling and Advanced Heterogeneous Feature Fusion
Jianxin Huang
Jiahang Li
Ning Jia
Yuxiang Sun
Chengju Liu
Qijun Chen
Rui Fan
ViT
293
29
0
31 Jul 2024
TiCoSS: Tightening the Coupling between Semantic Segmentation and Stereo Matching within A Joint Learning Framework
Guanfeng Tang
Zhiyuan Wu
Jiahang Li
Ping Zhong
Xieyuanli Chen
Xieyuanli Chen
Huiming Lu
Rui Fan
465
5
0
25 Jul 2024
TE-NeXt: A LiDAR-Based 3D Sparse Convolutional Network for Traversability Estimation
Antonio Santo
J. J. Cabrera
David Valiente
C. Viegas
Arturo Gil
3DPC
3DV
424
3
0
03 Jun 2024
PointNetPGAP-SLC: A 3D LiDAR-based Place Recognition Approach with Segment-level Consistency Training for Mobile Robots in Horticulture
T. Barros
L. Garrote
Pedro Conde
M. J. Coombes
C. Liu
C. Premebida
U. J. Nunes
3DPC
266
3
0
29 May 2024
Survey on Datasets for Perception in Unstructured Outdoor Environments
Peter Mortimer
Mirko Maehlisch
227
6
0
29 Apr 2024
Towards Long-term Robotics in the Wild
Stephen Hausler
Ethan Griffiths
Milad Ramezani
Peyman Moghadam
3DV
239
1
0
29 Apr 2024
LIX: Implicitly Infusing Spatial Geometric Prior Knowledge into Visual Semantic Segmentation for Autonomous Driving
Sicen Guo
Zhiyuan Wu
Qijun Chen
Ioannis Pitas
Rui Fan
Rui Fan
342
7
0
13 Mar 2024
SNE-RoadSegV2: Advancing Heterogeneous Feature Fusion and Fallibility Awareness for Freespace Detection
Yi Feng
Yu Ma
Qijun Chen
Ioannis Pitas
Rui Fan
295
15
0
29 Feb 2024
Follow the Footprints: Self-supervised Traversability Estimation for Off-road Vehicle Navigation based on Geometric and Visual Cues
Yurim Jeon
In Son
Seung-Woo Seo
220
8
0
23 Feb 2024
S
3
^3
3
M-Net: Joint Learning of Semantic Segmentation and Stereo Matching for Autonomous Driving
IEEE Transactions on Intelligent Vehicles (TIV), 2024
Zhiyuan Wu
Yi Feng
Chuangwei Liu
Fisher Yu
Qijun Chen
Rui Fan
280
23
0
21 Jan 2024
WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environments
Kavisha Vidanapathirana
Joshua Knights
Stephen Hausler
Mark Cox
Milad Ramezani
...
Ethan Griffiths
Shaheer Mohamed
Sridha Sridharan
Clinton Fookes
Peyman Moghadam
3DV
277
17
0
23 Dec 2023
The GOOSE Dataset for Perception in Unstructured Environments
IEEE International Conference on Robotics and Automation (ICRA), 2023
Peter Mortimer
Raphael Hagmanns
Miguel Granero
T. Luettel
J. Petereit
Hans-Joachim Wuensche
269
39
0
25 Oct 2023
RoadFormer: Duplex Transformer for RGB-Normal Semantic Road Scene Parsing
IEEE Transactions on Intelligent Vehicles (TIV), 2023
Jiahang Li
Yikang Zhang
Peng Yun
Guangliang Zhou
Qijun Chen
Rui Fan
ViT
OffRL
400
41
0
19 Sep 2023
URA*: Uncertainty-aware Path Planning using Image-based Aerial-to-Ground Traversability Estimation for Off-road Environments
Charles Moore
Shaswata Mitra
Nisha Pillai
Marc Moore
Sudip Mittal
Cindy Bethel
Jingdao Chen
210
4
0
15 Sep 2023
Contrastive Label Disambiguation for Self-Supervised Terrain Traversability Learning in Off-Road Environments
Hanzhang Xue
Xiaochang Hu
Rui Xie
Hao Fu
Liang Xiao
Yiming Nie
Bin Dai
SSL
170
8
0
06 Jul 2023
Analysis of LiDAR Configurations on Off-road Semantic Segmentation Performance
Jinhee Yu
Jingdao Chen
Lalitha Dabbiru
C. Goodin
3DPC
143
4
0
28 Jun 2023
Pseudo-Trilateral Adversarial Training for Domain Adaptive Traversability Prediction
Autonomous Robots (Auton. Robots), 2023
Zheng Chen
Durgakant Pushp
Jason M. Gregory
Lantao Liu
AAML
225
2
0
26 Jun 2023
Adaptive-Mask Fusion Network for Segmentation of Drivable Road and Negative Obstacle With Untrustworthy Features
Zhen Feng
Yuchao Feng
Yanning Guo
Yuxiang Sun
122
10
0
27 Apr 2023
Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments
Joshua Knights
Kavisha Vidanapathirana
Milad Ramezani
Sridha Sridharan
Clinton Fookes
Peyman Moghadam
260
0
0
23 Nov 2022
Uncertainty-aware Perception Models for Off-road Autonomous Unmanned Ground Vehicles
Zhaoyuan Yang
Y. Tan
Shiraj Sen
Johan Reimann
John N. Karigiannis
Mohammed A. Yousefhussien
Nurali Virani
151
7
0
22 Sep 2022
Polyline Generative Navigable Space Segmentation for Autonomous Visual Navigation
IEEE Robotics and Automation Letters (RA-L), 2021
Zheng Chen
Zhengming Ding
David J. Crandall
Lantao Liu
187
6
0
29 Oct 2021
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