Nonparametric Traversability Estimation in Partially Occluded and Deformable Terrain
نویسندگان
چکیده
منابع مشابه
Terrain Parameter Estimation and Traversability Assessment for Mobile Robots
The estimation of terrain characteristics is an important missions of Martian exploration rovers. Since only limited resources and human supervision are available, efficient and autonomous method of estimation are required. In this thesis, an on-line estimation method of two important terrain parameters, cohesion and internal friction angle, is developed. The method uses onboard rover sensors a...
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A stereo vision based terrain traversability estimation method for offroad mobile robots is presented. The method models surrounding terrain using either sloped planes or a digital elevation model, based on the availability of suitable input data. This combination of two surface modeling techniques increases range and information content of the resulting terrain map.
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A stereo-based terrain classification for traversability estimation of all terrains in offroad mobile robots is presented. The proposed method defines the roughness of the surrounding terrain for every single pixel in the image or point in a point cloud using surface normals and also explains how this is applied to all terrain by knowing the kinematics capability, mechanical constraints and siz...
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To achieve complete autonomy of unmanned ground vehicles (UGVs) in off-road terrain at high speeds, a robot must understand and analyze the terrain it is driving on in real-time just as a human analyzes the terrain and makes decisions of where to drive. Much research has been done in the way of obstacle avoidance, terrain classification, and path planning, but there has yet to be seen a system ...
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ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2016
ISSN: 1556-4959
DOI: 10.1002/rob.21646