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arXiv · 2606.21456

Technical Report for ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Exploring Query-Based Segmentation and Increased Spatial Context for Outdoor Scene Understanding

David Pascual-Hernández·Roberto Calvo-Palomino·Inmaculada Mora-Jiménez·Jose María Cañas-Plaza
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Abstract

In this report, we present our submission to the GOOSE 2D Fine-Grained Semantic Segmentation Challenge, organized as part of the Workshop on Field Robotics at ICRA 2026. The challenge combines data from the GOOSE and GOOSE-Ex datasets, which comprise more than 13k images captured from 4 distinct camera setups, annotated using a hierarchical taxonomy of 56 fine-grained classes and 11 broader categories. Starting from SegFormer as a baseline, we progressively improve segmentation performance through increased training crop sizes, a transition to the query-based Mask2Former architecture, and test-time augmentation. Our experiments show that query-based segmentation significantly outperforms the baseline model. Furthermore, increasing the crop size used during training yields substantial gains, highlighting the relevance of preserving scene context for fine-grained semantic disambiguation. Our final submission, using test-time augmentation, achieves an mIoU of 69.6% on the challenge test set, providing a strong baseline for fine-grained semantic segmentation in outdoor environments. To facilitate reproducibility and future research, code and weights will be made publicly available at https://github.com/RoboticsLabURJC/outdoor-fine-grained-segmentation .

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David Pascual-Hernández, Roberto Calvo-Palomino, Inmaculada Mora-Jiménez, Jose María Cañas-Plaza. 2026-06-19. Technical Report for ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Exploring Query-Based Segmentation and Increased Spatial Context for Outdoor Scene Understanding. https://arxiv.org/abs/2606.21456

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