This paper surveys the different methods of ground segmentation and traversability estimation in the field of robot navigation. Ground segmentation involves dividing data into ground and non-ground elements, acting as a preprocessing stage to extract objects of interest. Traversability estimation, on the other hand, identifies and understands areas where robots can move safely. These two concepts are often used interchangeably, leading to confusion. The paper emphasizes the difference between these two techniques and discusses four aspects: robot platform maneuverability, the robot’s position in its surroundings, the subset relation of negative obstacles, and the subset relation of deformable objects.
Publication date: 29 Dec 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2312.16839
