似て非なるもの：陸上ロボットのための地面セグメンテーションと走行可能性推定のサーベイ
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
地面セグメンテーションと走行可能性推定という混同されがちな2つの技術の違いを、ロボットの機動性や周囲との位置関係など4つの観点から整理したサーベイ論文。
著者: Hyungtae Lim, Minho Oh, Seungjae Lee, Seunguk Ahn, Hyun Myung
分類: cs.RO
原文アブストラクト
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentation and traversability estimation play important roles in perception and path planning, respectively. Even though these two techniques appear similar, their objectives are different. Ground segmentation divides data into ground and non-ground elements; thus, it is used as a preprocessing stage to extract objects of interest by rejecting ground points. In contrast, traversability estimation identifies and comprehends areas in which robots can move safely. Nevertheless, some researchers use these terms without clear distinction, leading to misunderstanding the two concepts. Therefore, in this study, we survey related literature and clearly distinguish ground and traversable regions considering four aspects: a) maneuverability of robot platforms, b) position of a robot in the surroundings, c) subset relation of negative obstacles, and d) subset relation of deformable objects.
