相关论文: UNRealNet: Learning Uncertainty-Aware Navigation F…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…

Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…

We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…

Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…

Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…

In this work, we introduce a novel Deep Learning-based method to perceive the environment of a vehicle based on radar scans while accounting for uncertainties in its predictions. The environment of the host vehicle is segmented into equally…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…

Accurate lesion segmentation is crucial for clinical diagnosis and treatment planning. However, lesions often resemble surrounding tissues and exhibit ill-defined boundaries, leading to unstable predictions in boundary/transition regions.…

The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…

We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area…