Stereo-based terrain traversability analysis using normal-based segmentation and superpixel surface analysis

16 Jul 2019Aras R. Dargazany

In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into two main problems: (1) 3D terrain reconstruction and (2) terrain all surfaces detection and analysis... (read more)

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