Traversability mapping in off-road environment using semantic segmentation

Lalitha Dabbiru; Suvash Sharma; Chris Goodin; Sam Ozier; Christopher Hudson; Daniel Carruth; Matthew Doude; George Mason; John Ball

doi:10.1117/12.2587661

12 April 2021 Traversability mapping in off-road environment using semantic segmentation

Lalitha Dabbiru, Suvash Sharma, Chris Goodin, Sam Ozier, Christopher Hudson, Daniel Carruth, Matthew Doude, George Mason, John Ball

Author Affiliations +

Proceedings Volume 11748, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021; 117480C (2021) https://doi.org/10.1117/12.2587661
Event: SPIE Defense + Commercial Sensing, 2021, Online Only

Abstract

Autonomous driving in off-road environments is challenging as it does not have a definite terrain structure. Assessment of terrain traversability is the main factor in deciding the autonomous driving capability of the ground vehicle. Traversability in off-road environments is defined as the drivable track on the trails by different vehicles used in autonomous driving. It is very crucial for the autonomous ground vehicle (AGV) to avoid obstacles such as trees, boulders etc. while traversing through the trails. The goal of this research has three main objectives: a) collection of 2D camera data in the off-road / unstructured environment, b) annotation of 2D camera data depending on the vehicles’ ability to drive through the trails , and c) application of semantic segmentation algorithm on the labeled dataset to predict the trajectory based on the type of ground vehicle. Our models and labeled datasets will be publicly available.

Conference Presentation

Citation Download Citation

Lalitha Dabbiru, Suvash Sharma, Chris Goodin, Sam Ozier, Christopher Hudson, Daniel Carruth, Matthew Doude, George Mason, and John Ball "Traversability mapping in off-road environment using semantic segmentation", Proc. SPIE 11748, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021, 117480C (12 April 2021); https://doi.org/10.1117/12.2587661

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