An autonomous outdoor ground robot needs to assess the traversability of the terrain in order to make a decision on its trajectory. Automatic terrain traversability estimation is no easy task, as it depends upon many parameters: vegetation, slope, robot mobility, ...
The Unmanned Vehicle Centre investigates two main approaches towards terrain traversability estimation. A first (real-time) approach uses high-quality stereo depth maps and classifies the terrain as traversable or not based on he analysis of the so-called v-disparity image. A second appraoch employs the full 3D model of the reconstructed terrain (monocular or binocular) to decide on terrain traversability.
To be updated