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- W4313305513 abstract "In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we propose a neural network, namely CADNet, with an attention-based multi-frame point cloud fusion module, Stability-Attention Module (SAM), to encode the spatial features from point clouds captured by LiDAR. CAD is designed based on the polar coordinate system and focuses on predicting the border of traversable area. Since it encodes the spatial information of the surrounding environment, which enables a semi-supervised learning for the CADNet, and thus desirably avoids annotating a large amount of data. Extensive experiments demonstrate that CAD outperforms baselines in terms of robustness and precision. We also implement our method on a real UGV and show that it performs well in real-world scenarios." @default.
- W4313305513 created "2023-01-06" @default.
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- W4313305513 date "2022-12-27" @default.
- W4313305513 modified "2023-09-27" @default.
- W4313305513 title "Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation" @default.
- W4313305513 doi "https://doi.org/10.48550/arxiv.2212.13676" @default.
- W4313305513 hasPublicationYear "2022" @default.
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