Stereo-based terrain traversability analysis for robot navigation
Geert De Cubber, Daniela Doroftei, Lazaros Nalpantidis, Georgios Ch. Sirakoulis, Antonios C. Gasteratos · 2009
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,