Traversability estimation is a challenging problem, as in a non-structured environment one should consider both the terrain characteristics, such as slopes, vegetation, rocks, soils, etc. and the robot mobility characteristics, i.e. locomotion method, wheels, etc [9,10]. It is thus required to analyse, in real-time, the 3D characteristics of the terrain and pair this data to the robot capabilit...

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.

This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed goes beyond modern metric-semantic maps to provide even richer environmental information for robots in single formalism while exploiting intralayer interlayer correlations. It removes the need robot access process from many separate when performing co...

The concept of a line digraph is generalized to that of a directed path graph. The directed path graph → Pk(D) of a digraph D is obtained by representing the directed paths on k vertices of D by vertices. Two vertices are joined by an arc whenever the corresponding directed paths in D form a directed path on k + 1 vertices or form a directed cycle on k vertices in D. In this introductory paper ...