“…Semantic-aware navigation approaches typically leverage additional sensor modalities to infer additional terrain information [13], [14], [15], [16], [17], [18], [2], [19], [20]. Approaches using more unconventional sensors either require a long observation duration [19] or a bulky sensor payload [20] which exceeds the capabilities of our target platform. Therefore, most work is focused on camera-based methods and either performs semantic segmentation of the environment [13], [15], [16], [2] or directly predicts a traversability label [14], [17], [18].…”