This paper proposes a land cover classification method that combines a Gaussian regression model (GRM) with an interval type-2 fuzzy neural network (IT2FNN) model as a classification decision model. Problems such as the increase in the complexity of ground cover, the increase in the heterogeneity of homogeneous regions, and the increase in the difficulty of classification due to the increase in similarity in different regions are overcome. Firstly, the local spatial information between adjacent pixels was introduced into the Gaussian model in image gray space to construct the GRM. Then, the GRM was used as the base model to construct the interval binary fuzzy membership function model and characterize the uncertainty of the classification caused by meticulous land cover data. Thirdly, the upper and lower boundaries of the membership degree of the training samples in all categories and the principle membership degree as input were used to build the IT2FNN model. Finally, in the membership space, the neighborhood relationship was processed again to further overcome the classification difficulties caused by the increased complexity of spatial information to achieve a classification decision. The classical method and proposed method were used to conduct qualitative and quantitative experiments on synthetic and real images of coastal areas, suburban areas, urban areas, and agricultural areas. Compared with the method considering only one spatial neighborhood relationship and the classical classification method without a classification decision model, for images with relatively simple spatial information, the accuracy of the interval type-2 fuzzy neural network Gaussian regression model (IT2FNN_GRM) was improved by 1.3% and 8%, respectively. For images with complex spatial information, the accuracy of the proposed method increased by 5.0% and 16%, respectively. The experimental results prove that the IT2FNN_GRM method effectively suppressed the influence of regional noise in land cover classification, with a fast running speed, high generalization ability, and high classification accuracy.

Road detection is a crucial part of the autonomous driving system, and semantic segmentation is used as the default method for this kind of task. However, the descriptive categories of agroforestry are not directly definable and constrain the semantic segmentation-based method for road detection. This paper proposes a novel road detection approach to overcome the problem mentioned above. Specifically, a novel two-stage method for road detection in an agroforestry environment, namely ARDformer. First, a transformer-based hierarchical feature aggregation network is used for semantic segmentation. After the segmentation network generates the scene mask, the edge extraction algorithm extracts the trail’s edge. It then calculates the periphery of the trail to surround the area where the trail and grass are located. The proposed method is tested on the public agroforestry dataset, and experimental results show that the intersection over union is approximately 0.82, which significantly outperforms the baseline. Moreover, ARDformer is also effective in a real agroforestry environment.

Accurate and robust visual localization under changing environments remains a fundamental challenge in autonomous driving and mobile robotics. Traditional handcrafted features often degrade under long-term illumination and viewpoint variations, while recent CNN-based methods, although more robust, typically rely on coarse semantic cues and remain vulnerable to dynamic objects. In this paper, we propose a fine-grained semantics-guided feature extraction framework that adaptively selects stable keypoints while suppressing dynamic disturbances. A fine-grained semantic refinement module subdivides coarse semantic categories into stability-homogeneous sub-classes, and a dual-attention mechanism enhances local repeatability and semantic consistency. By integrating physical priors with self-supervised clustering, the proposed framework learns discriminative and reliable feature representations. Extensive experiments on the Aachen and RobotCar-Seasons benchmarks demonstrate that the proposed approach achieves state-of-the-art accuracy and robustness while maintaining real-time efficiency, effectively bridging coarse semantic guidance with fine-grained stability estimation. Quantitatively, our method achieves strong localization performance on Aachen (up to 88.1% at night under the $(0.2^{°},0.25 \mathrm{m})$ threshold) and on RobotCar-Seasons (up to 57.2%/28.4% under the same threshold for day/night), demonstrating improved robustness to seasonal and illumination changes.