A computing system , comprising: at least one processor ; a machine-learned image segmentation model comprising: a semantic segmentation neural network , wherein the semantic segmentation neural network is trained to receive an image and, in response to receipt of the image, output a semantic segmentation mask ; and an edge refinement neural network , wherein the edge refinement neural network is trained to receive at least a portion of the image and at least a portion of the semantic segmentation mask and, in response to receipt of the at least a portion of the image and at least a portion of the semantic segmentation mask, output a refined semantic segmentation mask; and at least one tangible, non-transitory computer-readable medium that stores instructions that, when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising: obtaining the image; inputting the image into the semantic segmentation neural network; receiving, as an output of the semantic segmentation neural network, the semantic segmentation mask; inputting at least a portion of the image and at least a portion of the semantic segmentation mask into the edge refinement neural network; and receiving, as an output of the edge refinement neural network, the refined semantic segmentation mask. at least one processor ; a machine-learned image segmentation model comprising: a semantic segmentation neural network , wherein the semantic segmentation neural network is trained to receive an image and, in response to receipt of the image, output a semantic segmentation mask ; and an edge refinement neural network , wherein the edge refinement neural network is trained to receive at least a portion of the image and at least a portion of the semantic segmentation mask and, in response to receipt of the at least a portion of the image and at least a portion of the semantic segmentation mask, output a refined semantic segmentation mask; and a semantic segmentation neural network , wherein the semantic segmentation neural network is trained to receive an image and, in response to receipt of the image, output a semantic segmentation mask ; and an edge refinement neural network , wherein the edge refinement neural network is trained to receive at least a portion of the image and at least a portion of the semantic segmentation mask and, in response to receipt of the at least a portion of the image and at least a portion of the semantic segmentation mask, output a refined semantic segmentation mask; and at least one tangible, non-transitory computer-readable medium that stores instructions that, when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising: obtaining the image; inputting the image into the semantic segmentation neural network; receiving, as an output of the semantic segmentation neural network, the semantic segmentation mask; inputting at least a portion of the image and at least a portion of the semantic segmentation mask into the edge refinement neural network; and receiving, as an output of the edge refinement neural network, the refined semantic segmentation mask. obtaining the image; inputting the image into the semantic segmentation neural network; receiving, as an output of the semantic segmentation neural network, the semantic segmentation mask; inputting at least a portion of the image and at least a portion of the semantic segmentation mask into the edge refinement neural network; and receiving, as an output of the edge refinement neural network, the refined semantic segmentation mask. <EOS>