# Graph-based Semantic Calibration Network for Unaligned UAV RGBT Image Semantic Segmentation and A Large-scale Benchmark

arXiv: https://arxiv.org/abs/2604.26893 · HTML: https://mlsanity.com/paper/2604.26893/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 36 of its 56 references that are in the map.
- First posted on arXiv 29 Apr 2026.

## Builds on (most cited first, 30 of 36)

- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [Spatial Transformer Networks](https://mlsanity.com/paper/1506.02025/) (2015)
- [Deep High-Resolution Representation Learning for Human Pose Estimation](https://mlsanity.com/paper/1902.09212/) (2019)
- [Multi-Scale Context Aggregation by Dilated Convolutions](https://mlsanity.com/paper/1511.07122/) (2015)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volume](https://mlsanity.com/paper/1709.02371/) (2017)
- [Deformable ConvNets v2: More Deformable, Better Results](https://mlsanity.com/paper/1811.11168/) (2018)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)
- [Multi-Label Image Recognition with Graph Convolutional Networks](https://mlsanity.com/paper/1904.03582/) (2019)
- [MISA: Modality-Invariant and -Specific Representations for Multimodal Sentiment Analysis](https://mlsanity.com/paper/2005.03545/) (2020)
- [LoveDA: A Remote Sensing Land-Cover Dataset for Domain Adaptive Semantic Segmentation](https://mlsanity.com/paper/2110.08733/) (2021)
- [SegNeXt: Rethinking Convolutional Attention Design for Semantic Segmentation](https://mlsanity.com/paper/2209.08575/) (2022)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [FloodNet: A High Resolution Aerial Imagery Dataset for Post Flood Scene Understanding](https://mlsanity.com/paper/2012.02951/) (2020)
- [Deep Image Homography Estimation](https://mlsanity.com/paper/1606.03798/) (2016)
- [Multi-interactive Feature Learning and a Full-time Multi-modality Benchmark for Image Fusion and Segmentation](https://mlsanity.com/paper/2308.02097/) (2023)
- [Graph-Based Global Reasoning Networks](https://mlsanity.com/paper/1811.12814/) (2018)
- [Delivering Arbitrary-Modal Semantic Segmentation](https://mlsanity.com/paper/2303.01480/) (2023)
- [Making Better Mistakes: Leveraging Class Hierarchies with Deep Networks](https://mlsanity.com/paper/1912.09393/) (2019)
- [RGB-Infrared Cross-Modality Person Re-Identification via Joint Pixel and Feature Alignment](https://mlsanity.com/paper/1910.05839/) (2019)
- [PST900: RGB-Thermal Calibration, Dataset and Segmentation Network](https://mlsanity.com/paper/1909.10980/) (2019)
- [Dynamic Graph Message Passing Networks](https://mlsanity.com/paper/1908.06955/) (2019)
- [FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-time Semantic Segmentation](https://mlsanity.com/paper/2110.08988/) (2021)
- [Edge-aware Guidance Fusion Network for RGB Thermal Scene Parsing](https://mlsanity.com/paper/2112.05144/) (2021)
- [GeminiFusion: Efficient Pixel-wise Multimodal Fusion for Vision Transformer](https://mlsanity.com/paper/2406.01210/) (2024)

## Abstract (arXiv)

Fine-grained RGBT image semantic segmentation is crucial for all-weather unmanned aerial vehicle (UAV) scene understanding. However, UAV RGBT image semantic segmentation faces two coupled challenges: cross-modal spatial misalignment caused by sensor parallax and platform vibration, and severe semantic confusion among fine-grained ground objects under top-down aerial views. To address these issues, we propose a Graph-based Semantic Calibration Network (GSCNet) for unaligned UAV RGBT image semantic segmentation. Specifically, we design a Feature Decoupling and Alignment Module (FDAM) that decouples each modality into shared structural and private perceptual components and performs deformable alignment in the shared subspace, enabling robust spatial correction with reduced modality appearance interference. Moreover, we propose a Semantic Graph Calibration Module (SGCM) that explicitly encodes the hierarchical taxonomy and co-occurrence regularities among ground-object categories in UAV scenes into a structured category graph, and incorporates these priors into graph-attention reasoning to calibrate predictions of visually similar and rare categories. In addition, we construct the Unaligned RGB-Thermal Fine-grained (URTF) benchmark, to the best of our knowledge, the largest and most fine-grained benchmark for unaligned UAV RGBT image semantic segmentation, containing over 25,000 image pairs across 61 semantic categories with realistic cross-modal misalignment. Extensive experiments on URTF demonstrate that GSCNet significantly outperforms state-of-the-art methods, with notable gains on fine-grained categories. The dataset is available at https://github.com/mmic-lcl/Datasets-and-benchmark-code.