TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning
Adarsh Jagan Sathyamoorthy,Kasun Weerakoon,Tianrui Guan,Jing Liang,Dinesh Manocha,Adarsh Jagan Sathyamoorthy,Kasun Weerakoon,Tianrui Guan,Jing Liang,Dinesh Manocha
We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through self-supervised learning, and uses it for autonomous robot navigation. Our method uses RGB images of terrain surfaces and the robot's velocities as inputs, and the IMU vibrations and odometry errors experienced...
