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Jul, 2023
METAVerse: 元学习用于越野导航的遍历成本地图
METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation
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Junwon Seo, Taekyung Kim, Seongyong Ahn, Kiho Kwak
TL;DR
METAVerse是一个元学习框架,通过利用多环境驾驶数据训练一个全局模型,从稀疏的LiDAR点云中生成稠密连续值的成本地图来准确可靠地预测不同环境下的地形可通行性,结合模型预测控制器,实现了在结构化和未知地形上安全稳定的导航。
Abstract
autonomous navigation
in off-road conditions requires an accurate estimation of
terrain traversability
. However, traversability estimation in unstructured environments is subject to high uncertainty due to the va
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