Outdoor Terrain Traversability Analysis for Robot Navigation using a Time-Of-Flight Camera

Geert De Cubber, Daniela Doroftei, Hichem Sahli, Yvan Baudoin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous robotic systems operating in unstructured outdoor environments need to estimate the traversabilityof the terrain in order to navigate safely. 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, wheels, etc. It is thus required to analyze in real-time the 3D characteristics of the terrain and pair this data to the robot capabilities. In this paper, a method is introduced to estimate the traversability using data from a time-of-flight camera.
Original languageUndefined/Unknown
Title of host publicationRGB-D Workshop on 3D Perception in Robotics
Place of PublicationVasteras, Sweden
Publication statusPublished - 2011

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