Autonomous driving in off-road environments is challenging as it does not have a definite terrain structure. Assessment of terrain traversability is the main factor in deciding the autonomous driving capability of the ground vehicle. Traversability in off-road environments is defined as the drivable track on the trails by different vehicles used in autonomous driving. It is very crucial for the autonomous ground vehicle (AGV) to avoid obstacles such as trees, boulders etc. while traversing through the trails. The goal of this research has three main objectives: a) collection of 2D camera data in the off-road / unstructured environment, b) annotation of 2D camera data depending on the vehicles’ ability to drive through the trails , and c) application of semantic segmentation algorithm on the labeled dataset to predict the trajectory based on the type of ground vehicle. Our models and labeled datasets will be publicly available.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Traversability mapping in off-road environment using semantic segmentation


    Beteiligte:
    Dabbiru, Lalitha (Autor:in) / Sharma, Suvash (Autor:in) / Goodin, Chris (Autor:in) / Ozier, Sam (Autor:in) / Hudson, Christopher (Autor:in) / Carruth, Daniel (Autor:in) / Doude, Matthew (Autor:in) / Mason, George (Autor:in) / Ball, John (Autor:in)

    Kongress:

    Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021 ; 2021 ; Online Only,Florida,United States


    Erschienen in:

    Proc. SPIE ; 11748


    Erscheinungsdatum :

    12.04.2021





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Traversability mapping in off-road environment using semantic segmentation

    Dabbiru, Lalitha / Sharma, Suvash / Goodin, Chris et al. | British Library Conference Proceedings | 2021


    Autonomous Vehicles Traversability Mapping Fusing Semantic–Geometric in Off-Road Navigation

    Bo Zhang / Weili Chen / Chaoming Xu et al. | DOAJ | 2024

    Freier Zugriff

    Semantic scene understanding and traversability estimation for off-road vehicles

    Copado Rodríguez, Jesús | BASE | 2021

    Freier Zugriff

    Traversability analysis for off-road vehicles using stereo and radar data

    Reina, Giulio / Milella, Annalisa / Rouveure, Raphael | IEEE | 2015


    TRAVERSABILITY ANALYSIS USING TERRAIN MAPPING AND ONLINE-TRAINED TERRAIN TYPE CLASSIFIER

    Roncancio, H. / Becker, M. / Broggi, A. et al. | British Library Conference Proceedings | 2014