Traversability of Uneven Terrain : Perception for an Unmanned Ground Vehicle
Jones, Casey (2024)
Jones, Casey
2024
Tietotekniikan DI-ohjelma - Master's Programme in Information Technology
Informaatioteknologian ja viestinnän tiedekunta - Faculty of Information Technology and Communication Sciences
Hyväksymispäivämäärä
2024-12-30
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-2024123111783
https://urn.fi/URN:NBN:fi:tuni-2024123111783
Tiivistelmä
This thesis explores traversability analysis for an unmanned ground vehicle (UGV) operating on uneven terrain. Several open-source traversability estimation packages are evaluated, ranging from geometric heuristics and probabilistic approaches to appearance-based and multimodal/hybrid techniques, including supervised, self-supervised, and unsupervised learning paradigms. The chosen solution is deployed on a robotic UGV platform equipped with LiDAR and camera sensors. Online tests demonstrate its ability to effectively identify traversable areas in real-time.