自律型ショベルカーのための地形走行性マッピングとナビゲーションシステム
TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators
RGB画像と3D点群から地形特徴を抽出して走行性マップを構築し、不整地での自律ショベルカー走行を実現した研究。新しい建設現場データセットも提案。
著者: Tianrui Guan, Zhenpeng He, Ruitao Song, Dinesh Manocha, Liangjun Zhang
分類: cs.RO
原文アブストラクト
We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extract terrain features from RGB images and 3D point clouds and incorporate them into a global map for planning and navigation. Our system can adapt to changing environments and update the terrain information in real-time. Moreover, we present a novel dataset, the Complex Worksite Terrain (CWT) dataset, which consists of RGB images from construction sites with seven categories based on navigability. Our novel algorithms improve the mapping accuracy over previous SOTA methods by 4.17-30.48% and reduce MSE on the traversability map by 13.8-71.4%. We have combined our mapping approach with planning and control modules in an autonomous excavator navigation system and observe 49.3% improvement in the overall success rate. Based on TNS, we demonstrate the first autonomous excavator that can navigate through unstructured environments consisting of deep pits, steep hills, rock piles, and other complex terrain features.
