Browsing by Author "Leung, Tiga Ho Yin"

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    Hybrid terrain traversability analysis in off-road environments
    (IEEE, 2022-03-22) Leung, Tiga Ho Yin; Ignatyev, Dmitry I.; Zolotas, Argyrios
    There 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.