{"id":"https://openalex.org/W7162642180","doi":"https://doi.org/10.48550/arxiv.2605.27644","title":"Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data","display_name":"Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162642180","doi":"https://doi.org/10.48550/arxiv.2605.27644"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.27644","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27644","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.27644","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137268347","display_name":"Marcus G M\u00fcller","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M\u00fcller, Marcus G","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056660067","display_name":"Wout Boerdijk","orcid":"https://orcid.org/0000-0003-0789-5970"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Boerdijk, Wout","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024718059","display_name":"Maximilian Durner","orcid":"https://orcid.org/0000-0001-8885-5334"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Durner, Maximilian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076463708","display_name":"Riccardo Giubilato","orcid":"https://orcid.org/0000-0002-3161-3171"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giubilato, Riccardo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136736752","display_name":"Abel Gawel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gawel, Abel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062395244","display_name":"Wolfgang St\u00fcrzl","orcid":"https://orcid.org/0000-0003-2440-5857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"St\u00fcrzl, Wolfgang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137203895","display_name":"Roland Siegwart","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siegwart, Roland","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5050478468","display_name":"Rudolph Triebel","orcid":"https://orcid.org/0000-0002-7975-036X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Triebel, Rudolph","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8903999924659729,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8903999924659729,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.01979999989271164,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.011599999852478504,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7767999768257141},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6370000243186951},{"id":"https://openalex.org/keywords/raised-relief-map","display_name":"Raised-relief map","score":0.46470001339912415},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4343999922275543},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4147000014781952},{"id":"https://openalex.org/keywords/synthetic-data","display_name":"Synthetic data","score":0.40709999203681946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40059998631477356},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.3716999888420105}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8343999981880188},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7767999768257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6789000034332275},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6370000243186951},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.46470001339912415},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4147000014781952},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40059998631477356},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3944000005722046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3806999921798706},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.3382999897003174},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3345000147819519},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.3334999978542328},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2574000060558319},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.27644","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27644","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.27644","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27644","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.637638509273529}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Terrain":[0,80],"understanding":[1],"is":[2],"fundamental":[3],"for":[4,114],"mobile":[5],"robots":[6],"operating":[7],"in":[8,185],"unstructured":[9],"outdoor":[10,187],"environments.":[11,188],"Existing":[12],"vision-based":[13],"traversability":[14,95,119],"estimation":[15],"methods":[16,41],"rely":[17],"on":[18,44,86],"robot-specific":[19,112],"annotations":[20],"or":[21,93],"semantic":[22,39,68,91],"class":[23],"mappings,":[24],"limiting":[25],"transferability":[26],"across":[27],"platforms":[28],"and":[29,70,123,139,165,177,190],"requiring":[30],"costly":[31],"re-annotation":[32],"when":[33],"robot":[34],"capabilities":[35],"change,":[36],"while":[37],"standard":[38],"segmentation":[40,69,73,183],"only":[42],"focus":[43],"specific":[45],"predefined":[46,90],"classes,":[47],"which":[48],"do":[49],"not":[50],"capture":[51],"the":[52,100,136,155,171,174,178],"variety":[53],"of":[54,102,173,180],"terrains.":[55],"In":[56],"this":[57,196],"work,":[58],"we":[59,134,153],"propose":[60],"a":[61,75,142],"transformer-based":[62],"architecture":[63],"that":[64,107],"jointly":[65],"performs":[66],"class-specific":[67,164],"class-agnostic":[71,149,166],"terrain":[72,105,132,150,167],"within":[74],"unified":[76],"network,":[77],"called":[78],"Trinity.":[79],"regions":[81],"are":[82],"segmented":[83],"based":[84],"solely":[85],"visual":[87,104,121],"appearance,":[88],"without":[89],"labels":[92],"robot-dependent":[94],"scores.":[96],"This":[97],"formulation":[98],"enables":[99],"learning":[101],"robot-agnostic":[103],"priors":[106],"can":[108],"be":[109,193],"combined":[110],"with":[111,130,148,162,195],"experience":[113],"downstream":[115],"tasks":[116],"such":[117],"as":[118],"estimation,":[120],"odometry,":[122],"mission":[124],"planning.":[125],"To":[126],"enable":[127],"large-scale":[128],"training":[129],"diverse":[131],"appearances,":[133],"extend":[135],"OAISYS":[137],"simulator":[138],"introduce":[140],"RUGDSynth,":[141],"synthetic":[143],"dataset":[144],"inspired":[145],"by":[146],"RUGD":[147],"samples.":[151],"Furthermore,":[152],"present":[154],"EXTerra":[156],"Dataset,":[157],"providing":[158],"real-world":[159],"images":[160],"annotated":[161],"both":[163],"labels.":[168],"Experiments":[169],"demonstrate":[170],"feasibility":[172],"proposed":[175],"task":[176],"effectiveness":[179],"our":[181],"joint":[182],"approach":[184],"complex":[186],"Code":[189],"datasets":[191],"will":[192],"released":[194],"publication":[197],"(after":[198],"review).":[199]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}
