Abstract:For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR‐based terrain modeling approach, which could output stable, complete, and accurate terrain models and traversability analysis results. As terrain is an inherent property of the environment that does not change with different view angles, our approach adopts a multiframe information fusion strategy for terrain modeling. Specifically, a normal distributions transform mapping appro… Show more
“…The DEM is the most widely used technique for environment modeling and traversability analysis. Therefore, several modifications have been proposed to improve its efficiency such as in [ 46 ], who considered the elevation to follow a Gaussian distribution, and the stores for each cell are not only the mean elevation, but also the variance. Although elevation maps offer compact representation, they may not adequately depict multi-level structures or even vertical structures (bridges, for instance).…”
Evaluating the risk associated with operations is an essential element of safe planning and an essential prerequisite in mobile robotics. This issue is very broad, with numerous definitions emerging in the recent literature adapting different application scenarios and leading to different algorithmic approaches. In this review, we will investigate how the state-of-the-art approaches define the traversability risk, particularly for mobile robots, whereby we classify existing risk-aware navigation algorithms according to their characterization of risk. Subsequently, we will overview the formulations of risk assessment along a path using traversability grid maps since it is essential for a mobile robot to evaluate its path to predict potential hazards. Finally, we will discuss the consistency of commonly used risk metrics in robotics. The aim of the review is to offer a comprehensive overview to newcomers in the field, to provide a structured reference for practitioners, and to also inspire future developments.
“…The DEM is the most widely used technique for environment modeling and traversability analysis. Therefore, several modifications have been proposed to improve its efficiency such as in [ 46 ], who considered the elevation to follow a Gaussian distribution, and the stores for each cell are not only the mean elevation, but also the variance. Although elevation maps offer compact representation, they may not adequately depict multi-level structures or even vertical structures (bridges, for instance).…”
Evaluating the risk associated with operations is an essential element of safe planning and an essential prerequisite in mobile robotics. This issue is very broad, with numerous definitions emerging in the recent literature adapting different application scenarios and leading to different algorithmic approaches. In this review, we will investigate how the state-of-the-art approaches define the traversability risk, particularly for mobile robots, whereby we classify existing risk-aware navigation algorithms according to their characterization of risk. Subsequently, we will overview the formulations of risk assessment along a path using traversability grid maps since it is essential for a mobile robot to evaluate its path to predict potential hazards. Finally, we will discuss the consistency of commonly used risk metrics in robotics. The aim of the review is to offer a comprehensive overview to newcomers in the field, to provide a structured reference for practitioners, and to also inspire future developments.
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