FRPNet: An improved Faster-ResNet with PASPP for real-time semantic segmentation in the unstructured field scene

•A real-time semantic segmentation network for unstructured field scenes.•FasterNet is combined with customized residual connections for feature extraction.•An improved PASPP block is proposed to extract multi-scale features.•Ohd-Loss is proposed to handle imbalanced class distribution and loss of details.•State-of-the-art performance is achieved on benchmarking RUGD and RELLIS.