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TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation
Minho Oh, Byeongho Yu, I Made Aswin Nahrendra +8
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, trave…
B-TMS: Bayesian Traversable Terrain Modeling and Segmentation Across 3D LiDAR Scans and Maps for Enhanced Off-Road Navigation
Minho Oh, Gunhee Shin, Seoyeon Jang +7
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing se…
Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization
Wonho Song, Minho Oh, Jaeyoung Lee +1
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration…
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Hyungtae Lim, Minho Oh, Seungjae Lee +2
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentat…