Traversability analysis for off-road environments using locomotion experiments and earth observation data

Matthias Eder, Raphael Prinz, Florian Schöggl, Gerald Steinbauer-Wagner

Abstract: Highlights•Pipeline to estimate traversability costs for robots using recorded locomotion data.•Interpolation of costs for uncovered terrain classes using order relations.•Realistic off-road locomotion datasets for four heterogeneous robots.•Provision of guidelines for robot-specific recording of locomotion data.