Segment all roads: Domain generalized freespace detection by robust surface normal information embedding and edge-aware learning

Guangli Liu, Shishun Tian, Muxin Liao, Yuhang Zhang, Wenbin Zou, Xia Li

Abstract: Highlights•A generalizable freespace detection approach by surface normal and edge is proposed.•A robust information embedding module is proposed to embed surface normal.•A cross-scale feature robustness enhancement module is proposed to get more features.•An edge-aware learning strategy is proposed to further perceive edge information.