In theory, it should be possible to change the shape by following the instructions here: https://docs.openvino.ai/2022.3/openvino_docs_OV_UG_ShapeInference.html.
I've quickly tried for the model you mention (openvinotoolkit/open_model_zootree/master/models/intel/semantic-segmentation-adas-0001 ) but the reshape fails.
Note that it's not possible to change the shape for all models. Some might have some operations that for various reasons don't support that.
As Jaka suggested, the best way would be to pick a model that can perform semantic segmentation and train it on some dataset with semantic segmentation annotations in ADAS domain. We have an example of training here. You would have to replace the dataset with a suitable one. Note that tutorial might be outdated. Let us know if it fails. CC @JanCuhel