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😎 A curated list of papers, tools, and libraries for traversability analysis and terrain classification in robotic navigation

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Awesome Traversability Analysis Awesome

A curated list of awesome terrain classification, traversability analysis papers and codes for robotic navigation in the real-world 😎

Last update: June, 2024

Keep updating... Any PRs are welcome! 😃


Notice

2024.05.17 - Updated ICRA 2024 papers
2023.10.05 - Updated IROS 2023 papers

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Table of Contents


Survey papers


Awesome papers list

2023 - 2024 Papers


Geometry-based approaches

Dense Terrain Modeling
Terrain Representation Learning
Uncertainty & risk estimation
Learning from demonstration

Appearance-based approaches

Image segmentation
Learning from demonstration

Proprioception-based approaches


Hybrid approaches


Terrain-aware Navigation

Reinforcement Learning
Traditional Planning & Control

Public Datasets

Urban (Structured / Semi-structured) terrains

  • KITTI VIsion Benchmark Suite : Stereo Camera images, LiDAR pointclouds, GPS/IMU data
  • SemanticKITTI : LiDAR points labeled with semantic class
  • nuScenes : The data from 6 cameras, 1 LiDAR, 5 radars, and GPS/IMU
  • BDD100k : Video images annotated for object detection, lane detection, action recognition.
  • Cityscapes : semantic segmentation with high-resolution images annotated at the pixel level
  • KAIST Urban Dataset : The data from multiple LiDARs, stereo cameras, GPS, and IMU.

See more datasets at:

Off-road (Unstructured) terrains

  • RELLIS-3D : Data with Stereo Camera images, LiDAR pointclouds, GPS/IMU
  • RUGD : Video dataset annotated with pixel-wise labels
  • BotanicGarden : Stereo camera images, LiDAR pointclouds, GPS/IMU, Wheel encoders
  • GOOSE : Data with Stereo Camera images, LiDAR pointclouds, GPS/IMU

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😎 A curated list of papers, tools, and libraries for traversability analysis and terrain classification in robotic navigation

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