A robot can train a 3D voxel-based traversability model from scratch in situ from self-supervised collision data in about eight minutes, achieving MCC 0.63 and enabling safe point-to-point navigation in dense vegetation.
Learning-based methods of percep- tion and navigation for ground vehicles in unstructured environments: A review,
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Online Adaptive Traversability Estimation through Interaction for Unstructured, Densely Vegetated Environments
A robot can train a 3D voxel-based traversability model from scratch in situ from self-supervised collision data in about eight minutes, achieving MCC 0.63 and enabling safe point-to-point navigation in dense vegetation.