Online Terrain Traversability Estimation for Wheel-Legged Rover Exploration

In robotics, traversability, the ability of a robot to navigate challenging terrains, remains a significant challenge due to limitations in design, perception, and computation. The hybrid wheel-legged design, exemplified by the SherpaTT rover, offers enhanced mobility in unstructured terrain. Current systems rely on sparse LiDAR-based offline traversability maps for static environments, making them unsuitable for dynamic exploration.

This research proposes an online traversability estimation pipeline using robot-centric elevation mapping for the SherpaTT rover. By leveraging the RGB-D data from a stereo camera, the method provides real-time perceptual insights and traversability assessments based on semantic and geometric features. This approach enables dynamic navigational decisions, significantly enhancing the rover's exploration capabilities.

In der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.

zuletzt geändert am 31.03.2023