AUTHOR=Hou Liling , Yu Fei , Hu Yaowen , Hu Yang , Yang Ruoli 

TITLE=RSA-TransUNet: a robust structure-adaptive TransUNet for enhanced road crack segmentation

JOURNAL=Frontiers in Neurorobotics

VOLUME=Volume 19 - 2025

YEAR=2025

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2025.1633697

DOI=10.3389/fnbot.2025.1633697

ISSN=1662-5218

ABSTRACT=With the advancement of deep learning, road crack segmentation has become increasingly crucial for intelligent transportation safety. Despite notable progress, existing methods still face challenges in capturing fine-grained textures in small crack regions, handling blurred edges and significant width variations, and performing multi-class segmentation. Moreover, the high computational cost of training such models hinders their practical deployment. To tackle these limitations, we propose RSA-TransUNet, a novel model for road crack segmentation. At its core is the Axial-shift MLP Attention (ASMA) mechanism, which integrates axial perception with sparse contextual modeling. Through multi-path axial perturbations and an attention-guided structure, ASMA effectively captures long-range dependencies within row-column patterns, enabling detailed modeling of multi-scale crack features. To improve the model’s adaptability to structural irregularities, we introduce the Adaptive Spline Linear Unit (ASLU), which enhances the model’s capacity to represent nonlinear transformations. ASLU improves responsiveness to microstructural variations, morphological distortions, and local discontinuities, thereby boosting robustness across different domains. We further develop a Structure-aware Multi-stage Evolutionary Optimization (SMEO) strategy, which guides the training process through three phases: structural perception exploration, feature stability enhancement, and global perturbation. This strategy combines breadth sampling, convergence compression, and local escape mechanisms to improve convergence speed, global search efficiency, and generalization performance. Extensive evaluations on the Crack500, CFD, and DeepCrack datasets—including ablation studies and comparative experiments—demonstrate that RSA-TransUNet achieves superior segmentation accuracy and robustness in complex road environments, highlighting its potential for real-world applications.