Adaptive Long Range Vision in Unstructured Terrain

Abstract — A novel probabilistic online learning framework for autonomous off-road robot navigation is proposed. The system is purely vision-based and is particularly designed for predicting traversability in unknown or rapidly changing environments. It uses self-supervised learning to quickly adapt to novel terrains after processing a small number of frames, and it can recognize terrain elements such as paths, man-made structures, and natural obstacles at ranges up to 30 meters. The system is developed on the LAGR mobile robot platform and the performance is evaluated using multiple metrics, including ground truth. I