“…While we have argued in previous work (Wellhausen et al, 2019;Wellhausen et al, 2020) that purely geometric approaches are not sufficient for navigation in natural outdoor environments, approaches relying on semantic information exhibit the same issues as traditional geometric approaches. They, either implicitly through semantic segmentation of the environment (Rothrock et al, 2016;Bradley et al, 2015;Otsu et al, 2016;Valada et al, 2017), or explicitly (Kim et al, 2006;Barnes et al, 2017;Hirose et al, 2018) predict a traversability label. However, we can instead reinterpret traversability labels as foothold feasibility labels and use them to enhance geometric planning.…”