TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers

Table 2

IoU(%) of SegFormer, DeepLabv3+, and HRNet on S⁵Mars.

Network	SegFormer	DeepLabv3+	HRNet
Soil	63.91	79.29	81.47
Bedrock	85.2	91.08	90.97
Rock	2.41	19.28	14.84
Rover	40.5	79.37	86.51
Sky	78.57	89.38	90.53
Ridge	73.93	88.78	89.95
Trace	6.7	75.72	75.71
Sand	66.73	71.39	74.2
Hole	0	0	0
mIoU	46.44	66.03	67.13