VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
Haresh Karnan,Kavan Singh Sikand,Pranav Atreya,Sadegh Rabiee,Xuesu Xiao,Garrett Warnell,Peter Stone,Joydeep Biswas,Haresh Karnan,Kavan Singh Sikand,Pranav Atreya,Sadegh Rabiee,Xuesu Xiao,Garrett Warnell,Peter Stone,Joydeep Biswas
One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model, conditioned on inertial information of the vehicle to sense the kinodynamic interactions. In this pa...
