Pyramidal 3D feature fusion on polar grids for fast and robust traversability analysis on CPU

Daniel Fusaro, Emilio Olivastri, Ivano Donadi, Daniele Evangelista, Emanuele Menegatti, Alberto Pretto

Abstract: Highlights•Real-time geometrical approach for traversability analysis with SVMs on CPU.•Feature fusion module on a pyramidal polar grid space representation.•Comparison with SOTA semantic segmentation methods on publicly available datasets.•In-depth analysis of performance and power consumption on an embedded device.•Open-source implementation of the proposed method is released for public usage.