Real-Time Elevation Mapping with Bayesian Ground Filling and Traversability Analysis for UGV Navigation
Han Xie,Xunyu Zhong,Bushi Chen,Pengfei Peng,Huosheng Hu,Qiang Liu,Han Xie,Xunyu Zhong,Bushi Chen,Pengfei Peng,Huosheng Hu,Qiang Liu
Unmanned ground vehicles (UGVs) require effective perception and analysis of their surrounding terrain for safe operation. This paper presents a novel approach to their local elevation mapping and traversability analysis using sparse data from a single LiDAR sensor, which can generate a dense local traversability map in real-time. By preserving ground height information, our method can differentia...
