Intelligent autonomous driving in off-road environments is an emerging field with great potential to impact areas such as agriculture, forestry, and rescue operations. Perception in these scenarios presents unique challenges due to the diversity of elements and weather conditions, along with the inherent ambiguity in class definitions. Consequently, off-road visual semantic segmentation datasets remain underdeveloped, roughly ten times smaller than their urban counterparts, hindering dependable performance assessment and potentially compromising the safety of autonomous systems. To address these challenges, we present a comprehensive cross-dataset evaluation of visual semantic segmentation models for autonomous off-road navigation. We propose a unified ontology that harmonizes class definitions across relevant datasets, enabling their combination for both training and testing. This approach ensures fair model comparisons and reliable assessment of generalization to unseen domains. We further benchmark models on the original datasets, analyze the impact of different ontology harmonization criteria and conversion strategies, and evaluate the trade-off between segmentation performance and computational cost. Results show that Transformer-based architectures achieve the most consistent segmentation performance across datasets. While often computationally demanding, some variants maintain real-time inference ( ≈ 12 ms) with top-tier accuracy. The unified ontology simplifies the segmentation task, yielding more reliable models and about 40% faster training convergence. Cross-dataset training further enhances generalization, improving mean IoU by up to +20% on RUGD and +13% on WildScenes compared to RELLIS-3D-only training. Overall, this study provides valuable insights for developing robust perception modules for off-road autonomous vehicles.

Flatbed scanners have emerged as promising devices for high-resolution, single-image material capture. However, existing approaches assume very specific conditions, such as uniform diffuse illumination, which are only available in certain high-end devices, hindering their scalability and cost. In contrast, in this work, we introduce a method inspired by intrinsic image decomposition, which accurately removes both shading and specularity, effectively allowing captures with any flatbed scanner. Further, we extend previous work on single-image material reflectance capture with the estimation of opacity and transmittance, critical components of full material appearance (SVBSDF), improving the results for any material captured with a flatbed scanner, at a very high resolution and accuracy. • We introduce a generative model for digitizing materials using any flatbed scanners, capable of removing undesirable shading and specular highlights. • We expand the realism of digital replicas of material by including opacity and transmittance in the material model, both of which are key attributes for thin-layer materials like fabrics. • We provide an extensive and thorough experimentation using image-based and render aware metrics. Our results show that our method works with a wide range of scanning devices.

We propose a learning-based method to recover normals, specularity, and roughness from a single diffuse image of a material, using microgeometry appearance as our primary cue. Previous methods that work on single images tend to produce over-smooth outputs with artifacts, operate at limited resolution, or train one model per class with little room for generalization. In contrast, in this work, we propose a novel capture approach that leverages a generative network with attention and a U-Net discriminator, which shows outstanding performance integrating global information at reduced computational complexity. We showcase the performance of our method with a real dataset of digitized textile materials and show that a commodity flatbed scanner can produce the type of diffuse illumination required as input to our method. Additionally, because the problem might be ill-posed –more than a single diffuse image might be needed to disambiguate the specular reflection– or because the training dataset is not representative enough of the real distribution, we propose a novel framework to quantify the model's confidence about its prediction at test time. Our method is the first one to deal with the problem of modeling uncertainty in material digitization, increasing the trustworthiness of the process and enabling more intelligent strategies for dataset creation, as we demonstrate with an active learning experiment.

Existing devices for measuring material appearance in spatially-varying samples are limited to a single scale, either micro or mesoscopic. This is a practical limitation when the material has a complex multi-scale structure. In this paper, we present a system and methods to digitize materials at two scales, designed to include high-resolution data in spatially-varying representations at larger scales. We design and build a hemispherical light dome able to digitize flat material samples up to 11x11cm. We estimate geometric properties, anisotropic reflectance and transmittance at the microscopic level using polarized directional lighting with a single orthogonal camera. Then, we propagate this structured information to the mesoscale, using a neural network trained with the data acquired by the device and image-to-image translation methods. To maximize the compatibility of our digitization, we leverage standard BSDF models commonly adopted in the industry. Through extensive experiments, we demonstrate the precision of our device and the quality of our digitization process using a set of challenging real-world material samples and validation scenes. Further, we demonstrate the optical resolution and potential of our device for acquiring more complex material representations by capturing microscopic attributes which affect the global appearance: we characterize the properties of textile materials such as the yarn twist or the shape of individual fly-out fibers. We also release the SEDDIDOME dataset of materials, including raw data captured by the machine and optimized parameteres.