Hybrid terrain traversability analysis in off-road environments

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dc.contributor.authorLeung, Tiga Ho Yin
dc.contributor.authorIgnatyev, Dmitry I.
dc.contributor.authorZolotas, Argyrios
dc.date.accessioned2022-04-01T14:31:09Z
dc.date.available2022-04-01T14:31:09Z
dc.date.issued2022-03-22
dc.description.abstractThere is a significant growth in autonomy level in off-road ground vehicles. However, unknown off-road environments are often challenging due to their unstructured and rough nature. To find a path that the robot can move smoothly to its destination, it needs to analyse the surrounding terrain. In this paper, we present a hybrid terrain traversability analysis framework. Semantic segmentation is implemented to understand different types of the terrain surrounding the robot; meanwhile geometrical properties of the terrain are assessed with the aid of a probabilistic terrain estimation. The framework represents the traversability analysis on a robot-centric cost map, which is available to the path planners. We evaluated the proposed framework with synchronised sensor data captured while driving the robot in real off-road environments. This thorough terrain traversability analysis will be crucial for autonomous navigation systems in off-road environments.en_UK
dc.identifier.citationLeung THY, Ignatyev D, Zolotas A. (2022) Hybrid terrain traversability analysis in off-road environments. In: 2022 8th International Conference on Automation, Robotics and Applications (ICARA), 18 February - 20 March 2022, Prague, Czech Republicen_UK
dc.identifier.eisbn978-1-6654-8383-4
dc.identifier.issn2767-7737
dc.identifier.urihttps://doi.org/10.1109/ICARA55094.2022.9738557
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17729
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectterrain traversability analysisen_UK
dc.subjectoff-road environmentsen_UK
dc.subjectelevation mappingen_UK
dc.subjectsemantic segmentationen_UK
dc.subjectcost mapen_UK
dc.titleHybrid terrain traversability analysis in off-road environmentsen_UK
dc.typeConference paperen_UK

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