Passable area segmentation for open-pit mine road from vehicle perspective

Recognition of passable areas of mine roads based on vehicle perspective is crucial for autonomous vehicles to drive in unmanned open-pit mine scenes. In the past few years, deep learning-based passable area recognition methods have been proven feasible. However, these works have mainly focused on structured urban road environments. Few works designed for mine road region detection due to dataset scarcity. In this article, we propose the mine road scapes segmentation dataset, which is collected from open-pit mine road environments. The dataset is collected from different mine areas, covers different daytime and dusk periods, and annotates the road and non-road areas in detail. Besides, a novel transformer-based road segmentation network is proposed, which is designed for the mine road characteristics of texture and distribution. The segmentation network is composed of an improved transformer feature extraction backbone, which can simultaneously aggregate global context and local detail information, and realize pixel-level recognition. We solve the problem of mine road segmentation benchmark under vehicle perspective. Moreover, by comparing the results of current mainstream methods on the mine road dataset, our method obtains state-of-the-art performance.