High-Resolution Terrain Map from Multiple Sensor Data
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
An intelligent, predictive control approach to the high-speed cross-country autonomous navigation problem
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Traversability Analysis and Path Planning for a Planetary Rover
Autonomous Robots
Autonomous Cross-Country Navigation: An Integrated Perception and Planning System
IEEE Expert: Intelligent Systems and Their Applications
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Learning and prediction of slip from visual information: Research Articles
Journal of Field Robotics - Special Issue on Space Robotics
Traversable terrain classification for outdoor autonomous robots using single 2D laser scans
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Learning traversability models for autonomous mobile vehicles
Autonomous Robots
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Journal of Field Robotics - Special Issue on Field and Service Robotics
Autonomous off-road navigation with end-to-end learning for the LAGR program
Journal of Field Robotics - Special Issue on LAGR Program, Part I
Global planning on the Mars Exploration Rovers: Software integration and surface testing
Journal of Field Robotics - Special Issue on Space Robotics, Part II
Terrain Adaptive Navigation for planetary rovers
Journal of Field Robotics - Special Issue on Space Robotics, Part II
A multi-resolution pyramid for outdoor robot terrain perception
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Traversability: A Case Study for Learning and Perceiving Affordances in Robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Sampling-based path planning on configuration-space costmaps
IEEE Transactions on Robotics
Navigating a Mobile Robot by a Traversability Field Histogram
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Hi-index | 0.00 |
Motion planning for unmanned ground vehicles (UGV) constitutes a domain of research where several disciplines meet, ranging from artificial intelligence and machine learning to robot perception and computer vision. In view of the plurality of related applications such as planetary exploration, search and rescue, agriculture, mining and off-road exploration, the aim of the present survey is to review the field of 3D terrain traversability analysis that is employed at a preceding stage as a means to effectively and efficiently guide the task of motion planning. We identify that in the epicenter of all related methodologies, 3D terrain information is used which is acquired from LIDAR, stereo range data, color or other sensory data and occasionally combined with static or dynamic vehicle models expressing the interaction of the vehicle with the terrain. By taxonomizing the various directions that have been explored in terrain perception and analysis, this review takes a step toward agglomerating the dispersed contributions from individual domains by elaborating on a number of key similarities as well as differences, in order to stimulate research in addressing the open challenges and inspire future developments.