Terrain traversability prediction through self-supervised learning and unsupervised domain adaptation on synthetic data
Sign Up to like & getrecommendations! Published in 2024 at "Autonomous Robots"
DOI: 10.1007/s10514-024-10158-4
Abstract: Terrain traversability estimation is a fundamental task for supporting robot navigation on uneven surfaces. Recent learning-based approaches for predicting traversability from RGB images have shown promising results, but require manual annotation of a large number… read more here.
Keywords: domain adaptation; unsupervised domain; navigation; traversability ... See more keywords
A robust navigation framework for uneven terrain with traversability-focused planning
Sign Up to like & getrecommendations! Published in 2025 at "Measurement Science and Technology"
DOI: 10.1088/1361-6501/add28d
Abstract: Autonomous navigation has achieved significant success in structured indoor 2D environments but still encounters major challenges in unstructured outdoor 3D terrains, especially on uneven ground. To address these limitations, we propose a novel navigation framework… read more here.
Keywords: navigation; framework uneven; robust navigation; traversability ... See more keywords
CaT: CAVS Traversability Dataset for Off-Road Autonomous Driving
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3154419
Abstract: In the context of autonomous driving, the existing semantic segmentation concept strongly supports on-road driving where hard inter-class boundaries are enforced and objects can be categorized based on their visible structures with high confidence. Due… read more here.
Keywords: cat; road driving; cavs; road ... See more keywords
A Survey of Traversability Estimation for Mobile Robots
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DOI: 10.1109/access.2022.3202545
Abstract: Traversability illustrates the difficulty of driving through a specific region and encompasses the suitability of the terrain for traverse based on its physical properties, such as slope and roughness, surface condition, etc. In this survey… read more here.
Keywords: survey traversability; estimation mobile; traversability; traversability estimation ... See more keywords
Learning Self-Supervised Traversability With Navigation Experiences of Mobile Robots: A Risk-Aware Self-Training Approach
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3376148
Abstract: Mobile robots operating in outdoor environments face the challenge of navigating various terrains with different degrees of difficulty. Therefore, traversability estimation is crucial for safe and efficient robot navigation. Current approaches utilize a robot's driving… read more here.
Keywords: navigation; self supervised; risk; traversability ... See more keywords
Adaptive Robot Traversability Estimation Based on Self-Supervised Online Continual Learning in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3386451
Abstract: Traversability estimation is a core function for robot navigation in off-road unstructured environments and diverse research results have been published so far. One of the recent approaches is using the self-supervised learning (SSL) technique. SSL… read more here.
Keywords: navigation; robot; traversability estimation; traversability ... See more keywords
W-RIZZ: A Weakly-Supervised Framework for Relative Traversability Estimation in Mobile Robotics
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3396095
Abstract: Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation–which predicts where in the environment a robot… read more here.
Keywords: robotics; relative traversability; weakly supervised; traversability estimation ... See more keywords
PTS-Map: Probabilistic Terrain State Map for Uncertainty-Aware Traversability Mapping in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3519859
Abstract: Traversability mapping for autonomous navigation in unstructured environments has been widely investigated for decades. However, it remains challenging due to the uncertainty in geometry perception and the simplified representation of traversability maps that fail to… read more here.
Keywords: navigation; pts map; traversability; uncertainty ... See more keywords
How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2022.3150328
Abstract: Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should… read more here.
Keywords: traversability; cost; terrain; local global ... See more keywords