The semantic segmentation code is based on https://github.com/hszhao/semseg. We are not affiliated with the authors of that code.
To run segmentation experiments, please refer to the readme of their repository.

Our proposed sensor layer is implemented in the "sensor" module, specifically in the "FoveatedSensor" class.
We implement many different deformation variants. The ones explored in the paper are
- IndependentAnisotropicHalfNormalTunableSigmoidDeformation, referred to as "rect"
- AnisotropicHalfNormalTunableSigmoidDeformation, referred to as "curv"