Fig. 1. Pyramid pooling module structure

Fig. 2. Atrous spatial pyramid pooling structure

Fig. 3. Coordinate attention structure

Fig. 4. Attention and feature fusion structure

Fig. 5. Sample distribution of Cityscapes dataset and IDD dataset

Fig. 6. Parameter sensitivity distribution of λ and c

Fig. 7. The structure of AF-ICNet

Fig. 8. Cityscapes dataset training sample image

Fig. 9. IDD dataset training sample image

Fig. 10. Cityscapes dataset training process curve

Fig. 11. Test result of Cityscapes dataset

Fig. 12. IDD dataset training process curve

Fig. 13. Test result of unstructured road segmentation of IDD dataset

Fig. 14. The experimental testing system

Fig. 15. The image of field work on unstructured roads

Fig. 16. Segmentation results of unstructured roads tested in the field