Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic
segmentation is one of the key scene understanding tasks, which is pivotal for several
robotics applications including autonomous driving, domestic service robotics, last mile
delivery, among many others. Semantic segmentation is a dense prediction task that aims to
provide a scene representation in which each pixel of an image is assigned a semantic
class label. Therefore semantic segmentation considers the full scene context, incorporating …