Work

Spatially Coherent Costmap: A Weakly Supervised Pipeline for Outdoor Traversability

Year: 2024

Type: conference-paper

Abstract: Terrain perception is crucial for autonomous navigation, especially in off-road environments where terrain variability can pose challenges. Beyond simple obstacle avoidance, autonomous navigation can benefit from finer terrain traversability analysis. We introduce a novel method for creating terrain traversability maps, bringing benefits in terms of navigation safety and efficiency. The challenge of defining and manually annotating terrain traversability advocates for the use of limited annotations. Our method introduces a new weakly supervised approach with Siamese Networks to estimate trajectory cost from IMU and a generic Segmentation model to extend this annotation to full images. This methodology overcomes data sparsity and the limitations of existing formulas that struggle with simple terrain discrimination (like gravel vs road) while keeping very low annotation effort.

Source: HAL

Authors: Thomas, Guillaume, Bouchabou, Damien, Ravaud, Tom, Filliat, David, Chapoutot, Alexandre

Institution: Unité d'Informatique et d'Ingénierie des Systèmes

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDGs: Industry, innovation and infrastructure, Sustainable cities and communities

Open Access status: green

OpenAlex ID: W7207092740

FWCI:

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