V-STRONG：オフロードナビゲーションのための視覚的自己教師あり走行可能性学習
V-STRONG: Visual Self-Supervised Traversability Learning for Off-road Navigation
視覚基盤モデルと対照学習を活用し、人間の運転データとセグメンテーションマスクから走行可能性を自己教師ありで予測する手法を提案。未知環境への汎化性能が大幅に向上。
著者: Sanghun Jung, JoonHo Lee, Xiangyun Meng, Byron Boots, Alexander Lambert
分類: cs.RO
原文アブストラクト
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised learning approaches remain limited in their generalization ability. To this end, we introduce a novel, image-based self-supervised learning method for traversability prediction, leveraging a state-of-the-art vision foundation model for improved out-of-distribution performance. Our method employs contrastive representation learning using both human driving data and instance-based segmentation masks during training. We show that this simple, yet effective, technique drastically outperforms recent methods in predicting traversability for both on- and off-trail driving scenarios. We compare our method with recent baselines on both a common benchmark as well as our own datasets, covering a diverse range of outdoor environments and varied terrain types. We also demonstrate the compatibility of resulting costmap predictions with a model-predictive controller. Finally, we evaluate our approach on zero- and few-shot tasks, demonstrating unprecedented performance for generalization to new environments. Videos and additional material can be found here: https://sites.google.com/view/visual-traversability-learning.
