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2015.
Terrain Traversability Analysis using full-scale 3 D Processing
Autonomous robotic systems which aspire to navigate through rough unstructured terrain require the capability to reason about the environmental characteristics of their environment. As a first priority, the robotic systems need to assess the degree of traversability of their immediate environment to ensure their mobility while navigating through these rough environments. This paper presents a novel terrain-traversability analyis methodology which is based on processing the full 3D model of the terrain, not on a projected or downscaled version of this model. The approach is validated using field tests using a time-of-flight camera.