Forest Traversability Mapping (FTM): Traversability estimation using 3D voxel-based Normal Distributed Transform to enable forest navigation
Fabio Ruetz,Paulo Borges,Niko Suenderhauf,Emili Hernández,Thierry Peynot,Fabio Ruetz,Paulo Borges,Niko Suenderhauf,Emili Hernández,Thierry Peynot
Autonomous navigation in dense vegetation remains an open challenge and is an area of major interest for the research community. In this paper we propose a novel traversability estimation method, the Forest Traversability Map, that gives autonomous ground vehicles the ability to navigate in harsh forests or densely vegetated environments. The method estimates travers ability in unstructured enviro...
