Road Traversability analysis using network properties of roadmaps

摘要

Traversability analysis is an important aspect of autonomous navigation in robotics. In this paper, we relate the idea of traversability to safety and ease of road usage by defining a novel sensor-data driven metric called Road Traversability Index (RTI). The RTI translate the geometric interaction of vehicle with road into a distance modulated index that can be used as advice for a human driver or an autonomous agent intending to traverse a particular road segment using a specific vehicle. We present a framework in which 3D sensor data is converted into a road model, which in turn is converted into a roadmap based motion planning graph to represent the underlying configuration space. The RTI is defined as a function of the roadmap by axiomatically satisfying all required properties of road traversability. We have tested our algorithmic framework on simulated scenarios to explore safety; and real-world data sets to discover aspects of traversability for vehicles of various types. Experimental results show that RTI is a practical tool that reveals information that may be hidden to human inspection or other methods of assessment that do not explicitly model a vehicle.