Terrain Traversability Analysis for off-road robots using Time-Of-Flight 3D Sensing

摘要

Traversability estimation is a challenging problem, as in a non-structured environment one should consider both the terrain characteristics, such as slopes, vegetation, rocks, soils, etc. and the robot mobility characteristics, i.e. locomotion method, wheels, etc [9,10]. It is thus required to analyse, in real-time, the 3D characteristics of the terrain and pair this data to the robot capabilities.