Stereo-based terrain traversability analysis for robot navigation

摘要

Outdoor mobile robots, which have to navigate autonomously in a totally unstructured environment need to auto-determine the suitability of the terrain around them for traversal. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method,