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leggedrobotics / traversability_estimation

Traversability mapping for mobile rough terrain navigation
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Reference paper/article for roughness filter #69

Closed saiprakash-c closed 3 years ago

saiprakash-c commented 3 years ago

Hi,

Thanks for releasing the code. It has been very helpful to me.

Is there a reference paper/article that explains how you get roughness from elevation maps? In specific, I want to understand this function.

martiwer commented 3 years ago

Hi,

You can find a reference paper for the traversability estimation here [1]. The local slope, roughness, and step values are computed same as in this reference [2].

Basically, the roughness r at each cell is calculated as the standard deviation of the terrain height values from the fitted plane in a circular region around the cell.

[1] Wermelinger, Martin, et al. "Navigation planning for legged robots in challenging terrain." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016. [2] Chilian, Annett, and Heiko Hirschmüller. "Stereo camera based navigation of mobile robots on rough terrain." 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2009.

saiprakash-c commented 3 years ago

Thank you!