{"paper":{"title":"These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["eess.IV"],"primary_cat":"cs.RO","authors_text":"Adam Li, Parker Ewen, Ram Vasudevan, Steven Hong, Yuxin Chen","submitted_at":"2022-05-25T17:23:15Z","abstract_excerpt":"The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map estimating terrain properties should run in real time, mitigate sensor noise, and provide probability distributions of the aforementioned properties, thus enabling risk-mitigating navigation and planning. This paper addresses these needs and proposes a Bayesian inference framework for semantic mapping which recursively estimates both the terrain surface profile"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.12925","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2205.12925/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}