Technical Paper
Construction of Terrain Multidimensional Traversibility Feature Map for Off-Road Scenarios Based on Binocular Vision
2024-04-09
2024-01-2046
Terrain Traversability Feature (TTF) map, which could be constructed by the images and point cloud data base on binocular vision, often using multi-frame fusion technology to expand the coverage area. However, the common challenges of off-road scenarios such as missing GPS data or single terrain features seriously hindered the alignment of adjacent frame data. Additionally, traditional TTF map depict the vehicle's surroundings only based on a few features such as terrain elevation or category. And it is insufficient for complex off-road scenarios navigation tasks. This paper presents a method for constructing a Terrain Multidimensional Traversability Feature (TMTF) map for off-road scenarios based on binocular vision. First, we utilize the point cloud data from a binocular camera to construct a grid map model. Therefore, the geometric features of the terrain could be calculated with the grid as the basic unit, and a single-frame TMTF map of off-road scenarios is established.